diff --git a/libs/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h b/libs/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h index 7073045599df1263febd23590aa524da5b6f7547..b5dc48f0e5a243b54246e1f2709d2695071e29f1 100644 --- a/libs/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h +++ b/libs/mavlink/include/mavlink/v1.0/ardupilotmega/ardupilotmega.h @@ -12,15 +12,15 @@ extern "C" { // MESSAGE LENGTHS AND CRCS #ifndef MAVLINK_MESSAGE_LENGTHS -#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 56, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 88, 44, 9, 254, 249, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 64, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 42, 8, 4, 12, 15, 13, 6, 15, 14, 0, 12, 3, 8, 28, 44, 3, 9, 22, 12, 18, 34, 66, 98, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} #endif #ifndef MAVLINK_MESSAGE_CRCS -#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 183, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 5, 212, 185, 235, 93, 124, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 234, 73, 181, 22, 83, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 162, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 134, 219, 208, 188, 84, 22, 19, 21, 134, 0, 78, 68, 189, 127, 111, 21, 21, 144, 1, 234, 73, 181, 22, 83, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} #endif #ifndef MAVLINK_MESSAGE_INFO -#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, MAVLINK_MESSAGE_INFO_RANGEFINDER, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS, MAVLINK_MESSAGE_INFO_SET_MAG_OFFSETS, MAVLINK_MESSAGE_INFO_MEMINFO, MAVLINK_MESSAGE_INFO_AP_ADC, MAVLINK_MESSAGE_INFO_DIGICAM_CONFIGURE, MAVLINK_MESSAGE_INFO_DIGICAM_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_CONFIGURE, MAVLINK_MESSAGE_INFO_MOUNT_CONTROL, MAVLINK_MESSAGE_INFO_MOUNT_STATUS, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_FENCE_POINT, MAVLINK_MESSAGE_INFO_FENCE_FETCH_POINT, MAVLINK_MESSAGE_INFO_FENCE_STATUS, MAVLINK_MESSAGE_INFO_AHRS, MAVLINK_MESSAGE_INFO_SIMSTATE, MAVLINK_MESSAGE_INFO_HWSTATUS, MAVLINK_MESSAGE_INFO_RADIO, MAVLINK_MESSAGE_INFO_LIMITS_STATUS, MAVLINK_MESSAGE_INFO_WIND, MAVLINK_MESSAGE_INFO_DATA16, MAVLINK_MESSAGE_INFO_DATA32, MAVLINK_MESSAGE_INFO_DATA64, MAVLINK_MESSAGE_INFO_DATA96, MAVLINK_MESSAGE_INFO_RANGEFINDER, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} #endif #include "../protocol.h" diff --git a/libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h b/libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h index 7e10f050cac7d2bea5bc6664f954adf307948595..5cae7e1fe52c9902e528d102371088ad85cc4885 100644 --- a/libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h +++ b/libs/mavlink/include/mavlink/v1.0/ardupilotmega/version.h @@ -5,7 +5,7 @@ #ifndef MAVLINK_VERSION_H #define MAVLINK_VERSION_H -#define MAVLINK_BUILD_DATE "Fri Jun 7 22:41:53 2013" +#define MAVLINK_BUILD_DATE "Mon Jul 1 09:49:34 2013" #define MAVLINK_WIRE_PROTOCOL_VERSION "1.0" #define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 254 diff --git a/libs/mavlink/include/mavlink/v1.0/autoquad/autoquad.h b/libs/mavlink/include/mavlink/v1.0/autoquad/autoquad.h new file mode 100644 index 0000000000000000000000000000000000000000..cfd3a61fd247177c3734591e8dbdcd650e00da3b --- /dev/null +++ b/libs/mavlink/include/mavlink/v1.0/autoquad/autoquad.h @@ -0,0 +1,97 @@ +/** @file + * @brief MAVLink comm protocol generated from autoquad.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef AUTOQUAD_H +#define AUTOQUAD_H + +#ifdef __cplusplus +extern "C" { +#endif + +// MESSAGE LENGTHS AND CRCS + +#ifndef MAVLINK_MESSAGE_LENGTHS +#define MAVLINK_MESSAGE_LENGTHS {9, 31, 12, 0, 14, 28, 3, 32, 0, 0, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 20, 2, 25, 23, 30, 101, 22, 26, 16, 14, 28, 32, 28, 28, 22, 22, 21, 6, 6, 37, 4, 4, 2, 2, 4, 2, 2, 3, 13, 12, 19, 17, 15, 15, 27, 25, 18, 18, 20, 20, 9, 34, 26, 46, 36, 0, 6, 4, 0, 11, 18, 0, 0, 0, 20, 0, 33, 3, 0, 0, 20, 22, 0, 0, 0, 0, 0, 0, 0, 28, 64, 42, 33, 0, 0, 0, 0, 0, 0, 0, 26, 32, 32, 20, 32, 62, 54, 64, 84, 9, 254, 249, 9, 36, 26, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 16, 33, 25, 82, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 36, 30, 18, 18, 51, 9, 0} +#endif + +#ifndef MAVLINK_MESSAGE_CRCS +#define MAVLINK_MESSAGE_CRCS {50, 124, 137, 0, 237, 217, 104, 119, 0, 0, 0, 89, 0, 0, 0, 0, 0, 0, 0, 0, 214, 159, 220, 168, 24, 23, 170, 144, 67, 115, 39, 246, 185, 104, 237, 244, 222, 212, 9, 254, 230, 28, 28, 132, 221, 232, 11, 153, 41, 39, 214, 223, 141, 33, 15, 3, 100, 24, 239, 238, 30, 240, 183, 130, 130, 0, 148, 21, 0, 243, 124, 0, 0, 0, 20, 0, 152, 143, 0, 0, 127, 106, 0, 0, 0, 0, 0, 0, 0, 231, 162, 63, 54, 0, 0, 0, 0, 0, 0, 0, 175, 102, 158, 208, 56, 93, 211, 108, 32, 185, 235, 93, 124, 124, 119, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 42, 241, 15, 241, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 204, 49, 170, 44, 83, 46, 0} +#endif + +#ifndef MAVLINK_MESSAGE_INFO +#define MAVLINK_MESSAGE_INFO {MAVLINK_MESSAGE_INFO_HEARTBEAT, MAVLINK_MESSAGE_INFO_SYS_STATUS, MAVLINK_MESSAGE_INFO_SYSTEM_TIME, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PING, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL, MAVLINK_MESSAGE_INFO_CHANGE_OPERATOR_CONTROL_ACK, MAVLINK_MESSAGE_INFO_AUTH_KEY, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_SET_MODE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_READ, MAVLINK_MESSAGE_INFO_PARAM_REQUEST_LIST, MAVLINK_MESSAGE_INFO_PARAM_VALUE, MAVLINK_MESSAGE_INFO_PARAM_SET, MAVLINK_MESSAGE_INFO_GPS_RAW_INT, MAVLINK_MESSAGE_INFO_GPS_STATUS, MAVLINK_MESSAGE_INFO_SCALED_IMU, MAVLINK_MESSAGE_INFO_RAW_IMU, MAVLINK_MESSAGE_INFO_RAW_PRESSURE, MAVLINK_MESSAGE_INFO_SCALED_PRESSURE, MAVLINK_MESSAGE_INFO_ATTITUDE, MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT, MAVLINK_MESSAGE_INFO_RC_CHANNELS_SCALED, MAVLINK_MESSAGE_INFO_RC_CHANNELS_RAW, MAVLINK_MESSAGE_INFO_SERVO_OUTPUT_RAW, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_WRITE_PARTIAL_LIST, MAVLINK_MESSAGE_INFO_MISSION_ITEM, MAVLINK_MESSAGE_INFO_MISSION_REQUEST, MAVLINK_MESSAGE_INFO_MISSION_SET_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_CURRENT, MAVLINK_MESSAGE_INFO_MISSION_REQUEST_LIST, MAVLINK_MESSAGE_INFO_MISSION_COUNT, MAVLINK_MESSAGE_INFO_MISSION_CLEAR_ALL, MAVLINK_MESSAGE_INFO_MISSION_ITEM_REACHED, MAVLINK_MESSAGE_INFO_MISSION_ACK, MAVLINK_MESSAGE_INFO_SET_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN, MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT, MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SET_GLOBAL_POSITION_SETPOINT_INT, MAVLINK_MESSAGE_INFO_SAFETY_SET_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SAFETY_ALLOWED_AREA, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_SET_ROLL_PITCH_YAW_SPEED_THRUST, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_SPEED_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_MOTORS_SETPOINT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT, MAVLINK_MESSAGE_INFO_SET_QUAD_SWARM_LED_ROLL_PITCH_YAW_THRUST, MAVLINK_MESSAGE_INFO_STATE_CORRECTION, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_REQUEST_DATA_STREAM, MAVLINK_MESSAGE_INFO_DATA_STREAM, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MANUAL_CONTROL, MAVLINK_MESSAGE_INFO_RC_CHANNELS_OVERRIDE, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_VFR_HUD, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_COMMAND_LONG, MAVLINK_MESSAGE_INFO_COMMAND_ACK, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET, MAVLINK_MESSAGE_INFO_HIL_STATE, MAVLINK_MESSAGE_INFO_HIL_CONTROLS, MAVLINK_MESSAGE_INFO_HIL_RC_INPUTS_RAW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_OPTICAL_FLOW, MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE, MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE, MAVLINK_MESSAGE_INFO_HIGHRES_IMU, MAVLINK_MESSAGE_INFO_OMNIDIRECTIONAL_FLOW, MAVLINK_MESSAGE_INFO_HIL_SENSOR, MAVLINK_MESSAGE_INFO_SIM_STATE, MAVLINK_MESSAGE_INFO_RADIO_STATUS, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_START, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_DIR_LIST, MAVLINK_MESSAGE_INFO_FILE_TRANSFER_RES, MAVLINK_MESSAGE_INFO_HIL_GPS, MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_BATTERY_STATUS, MAVLINK_MESSAGE_INFO_SETPOINT_8DOF, MAVLINK_MESSAGE_INFO_SETPOINT_6DOF, MAVLINK_MESSAGE_INFO_AQ_TELEMETRY_F, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, 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{"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}, MAVLINK_MESSAGE_INFO_MEMORY_VECT, MAVLINK_MESSAGE_INFO_DEBUG_VECT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_FLOAT, MAVLINK_MESSAGE_INFO_NAMED_VALUE_INT, MAVLINK_MESSAGE_INFO_STATUSTEXT, MAVLINK_MESSAGE_INFO_DEBUG, {"EMPTY",0,{{"","",MAVLINK_TYPE_CHAR,0,0,0}}}} +#endif + +#include "../protocol.h" + +#define MAVLINK_ENABLED_AUTOQUAD + +// ENUM DEFINITIONS + + +/** @brief */ +#ifndef HAVE_ENUM_MAV_CMD +#define HAVE_ENUM_MAV_CMD +enum MAV_CMD +{ + MAV_CMD_AQ_TELEMETRY=2, /* Start/stop AutoQuad telemetry values stream. |Start or stop (1 or 0)| Stream frequency in us| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_AQ_FOLLOW=3, /* Command AutoQuad to go to a particular place at a set speed. |Latitude| Lontitude| Altitude| Speed| Empty| Empty| Empty| */ + MAV_CMD_AQ_REQUEST_VERSION=4, /* Request AutoQuad firmware version number. |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_NAV_WAYPOINT=16, /* Navigate to MISSION. |Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)| Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)| 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ + MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ + MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ + MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ + MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ + MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ + MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ + MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ + MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ + MAV_CMD_ENUM_END=401, /* | */ +}; +#endif + +#include "../common/common.h" + +// MAVLINK VERSION + +#ifndef MAVLINK_VERSION +#define MAVLINK_VERSION 3 +#endif + +#if (MAVLINK_VERSION == 0) +#undef MAVLINK_VERSION +#define MAVLINK_VERSION 3 +#endif + +// MESSAGE DEFINITIONS +#include "./mavlink_msg_aq_telemetry_f.h" + +#ifdef __cplusplus +} +#endif // __cplusplus +#endif // AUTOQUAD_H diff --git a/libs/mavlink/include/mavlink/v1.0/autoquad/mavlink.h b/libs/mavlink/include/mavlink/v1.0/autoquad/mavlink.h new file mode 100644 index 0000000000000000000000000000000000000000..3f80c9a41e2e6438eb12d4b72c52d9d8374644dc --- /dev/null +++ b/libs/mavlink/include/mavlink/v1.0/autoquad/mavlink.h @@ -0,0 +1,27 @@ +/** @file + * @brief MAVLink comm protocol built from autoquad.xml + * @see http://pixhawk.ethz.ch/software/mavlink + */ +#ifndef MAVLINK_H +#define MAVLINK_H + +#ifndef MAVLINK_STX +#define MAVLINK_STX 254 +#endif + +#ifndef MAVLINK_ENDIAN +#define MAVLINK_ENDIAN MAVLINK_LITTLE_ENDIAN +#endif + +#ifndef MAVLINK_ALIGNED_FIELDS +#define MAVLINK_ALIGNED_FIELDS 1 +#endif + +#ifndef MAVLINK_CRC_EXTRA +#define MAVLINK_CRC_EXTRA 1 +#endif + +#include "version.h" +#include "autoquad.h" + +#endif // MAVLINK_H diff --git a/libs/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h b/libs/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h new file mode 100644 index 0000000000000000000000000000000000000000..dabccdf733ac89e383291dba5157d4ed47dcb982 --- /dev/null +++ b/libs/mavlink/include/mavlink/v1.0/autoquad/mavlink_msg_aq_telemetry_f.h @@ -0,0 +1,603 @@ +// MESSAGE AQ_TELEMETRY_F PACKING + +#define MAVLINK_MSG_ID_AQ_TELEMETRY_F 150 + +typedef struct __mavlink_aq_telemetry_f_t +{ + float value1; ///< value1 + float value2; ///< value2 + float value3; ///< value3 + float value4; ///< value4 + float value5; ///< value5 + float value6; ///< value6 + float value7; ///< value7 + float value8; ///< value8 + float value9; ///< value9 + float value10; ///< value10 + float value11; ///< value11 + float value12; ///< value12 + float value13; ///< value13 + float value14; ///< value14 + float value15; ///< value15 + float value16; ///< value16 + float value17; ///< value17 + float value18; ///< value18 + float value19; ///< value19 + float value20; ///< value20 + uint16_t Index; ///< Index of message +} mavlink_aq_telemetry_f_t; + +#define MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN 82 +#define MAVLINK_MSG_ID_150_LEN 82 + +#define MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC 241 +#define MAVLINK_MSG_ID_150_CRC 241 + + + +#define MAVLINK_MESSAGE_INFO_AQ_TELEMETRY_F { \ + "AQ_TELEMETRY_F", \ + 21, \ + { { "value1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_aq_telemetry_f_t, value1) }, \ + { "value2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_aq_telemetry_f_t, value2) }, \ + { "value3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_aq_telemetry_f_t, value3) }, \ + { "value4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_aq_telemetry_f_t, value4) }, \ + { "value5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_aq_telemetry_f_t, value5) }, \ + { "value6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_aq_telemetry_f_t, value6) }, \ + { "value7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_aq_telemetry_f_t, value7) }, \ + { "value8", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_aq_telemetry_f_t, value8) }, \ + { "value9", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_aq_telemetry_f_t, value9) }, \ + { "value10", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_aq_telemetry_f_t, value10) }, \ + { "value11", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_aq_telemetry_f_t, value11) }, \ + { "value12", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_aq_telemetry_f_t, value12) }, \ + { "value13", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_aq_telemetry_f_t, value13) }, \ + { "value14", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_aq_telemetry_f_t, value14) }, \ + { "value15", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_aq_telemetry_f_t, value15) }, \ + { "value16", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_aq_telemetry_f_t, value16) }, \ + { "value17", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_aq_telemetry_f_t, value17) }, \ + { "value18", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_aq_telemetry_f_t, value18) }, \ + { "value19", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_aq_telemetry_f_t, value19) }, \ + { "value20", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_aq_telemetry_f_t, value20) }, \ + { "Index", NULL, MAVLINK_TYPE_UINT16_T, 0, 80, offsetof(mavlink_aq_telemetry_f_t, Index) }, \ + } \ +} + + +/** + * @brief Pack a aq_telemetry_f message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param Index Index of message + * @param value1 value1 + * @param value2 value2 + * @param value3 value3 + * @param value4 value4 + * @param value5 value5 + * @param value6 value6 + * @param value7 value7 + * @param value8 value8 + * @param value9 value9 + * @param value10 value10 + * @param value11 value11 + * @param value12 value12 + * @param value13 value13 + * @param value14 value14 + * @param value15 value15 + * @param value16 value16 + * @param value17 value17 + * @param value18 value18 + * @param value19 value19 + * @param value20 value20 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_aq_telemetry_f_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint16_t Index, float value1, float value2, float value3, float value4, float value5, float value6, float value7, float value8, float value9, float value10, float value11, float value12, float value13, float value14, float value15, float value16, float value17, float value18, float value19, float value20) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN]; + _mav_put_float(buf, 0, value1); + _mav_put_float(buf, 4, value2); + _mav_put_float(buf, 8, value3); + _mav_put_float(buf, 12, value4); + _mav_put_float(buf, 16, value5); + _mav_put_float(buf, 20, value6); + _mav_put_float(buf, 24, value7); + _mav_put_float(buf, 28, value8); + _mav_put_float(buf, 32, value9); + _mav_put_float(buf, 36, value10); + _mav_put_float(buf, 40, value11); + _mav_put_float(buf, 44, value12); + _mav_put_float(buf, 48, value13); + _mav_put_float(buf, 52, value14); + _mav_put_float(buf, 56, value15); + _mav_put_float(buf, 60, value16); + _mav_put_float(buf, 64, value17); + _mav_put_float(buf, 68, value18); + _mav_put_float(buf, 72, value19); + _mav_put_float(buf, 76, value20); + _mav_put_uint16_t(buf, 80, Index); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#else + mavlink_aq_telemetry_f_t packet; + packet.value1 = value1; + packet.value2 = value2; + packet.value3 = value3; + packet.value4 = value4; + packet.value5 = value5; + packet.value6 = value6; + packet.value7 = value7; + packet.value8 = value8; + packet.value9 = value9; + packet.value10 = value10; + packet.value11 = value11; + packet.value12 = value12; + packet.value13 = value13; + packet.value14 = value14; + packet.value15 = value15; + packet.value16 = value16; + packet.value17 = value17; + packet.value18 = value18; + packet.value19 = value19; + packet.value20 = value20; + packet.Index = Index; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_AQ_TELEMETRY_F; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#endif +} + +/** + * @brief Pack a aq_telemetry_f message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param Index Index of message + * @param value1 value1 + * @param value2 value2 + * @param value3 value3 + * @param value4 value4 + * @param value5 value5 + * @param value6 value6 + * @param value7 value7 + * @param value8 value8 + * @param value9 value9 + * @param value10 value10 + * @param value11 value11 + * @param value12 value12 + * @param value13 value13 + * @param value14 value14 + * @param value15 value15 + * @param value16 value16 + * @param value17 value17 + * @param value18 value18 + * @param value19 value19 + * @param value20 value20 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_aq_telemetry_f_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint16_t Index,float value1,float value2,float value3,float value4,float value5,float value6,float value7,float value8,float value9,float value10,float value11,float value12,float value13,float value14,float value15,float value16,float value17,float value18,float value19,float value20) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN]; + _mav_put_float(buf, 0, value1); + _mav_put_float(buf, 4, value2); + _mav_put_float(buf, 8, value3); + _mav_put_float(buf, 12, value4); + _mav_put_float(buf, 16, value5); + _mav_put_float(buf, 20, value6); + _mav_put_float(buf, 24, value7); + _mav_put_float(buf, 28, value8); + _mav_put_float(buf, 32, value9); + _mav_put_float(buf, 36, value10); + _mav_put_float(buf, 40, value11); + _mav_put_float(buf, 44, value12); + _mav_put_float(buf, 48, value13); + _mav_put_float(buf, 52, value14); + _mav_put_float(buf, 56, value15); + _mav_put_float(buf, 60, value16); + _mav_put_float(buf, 64, value17); + _mav_put_float(buf, 68, value18); + _mav_put_float(buf, 72, value19); + _mav_put_float(buf, 76, value20); + _mav_put_uint16_t(buf, 80, Index); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#else + mavlink_aq_telemetry_f_t packet; + packet.value1 = value1; + packet.value2 = value2; + packet.value3 = value3; + packet.value4 = value4; + packet.value5 = value5; + packet.value6 = value6; + packet.value7 = value7; + packet.value8 = value8; + packet.value9 = value9; + packet.value10 = value10; + packet.value11 = value11; + packet.value12 = value12; + packet.value13 = value13; + packet.value14 = value14; + packet.value15 = value15; + packet.value16 = value16; + packet.value17 = value17; + packet.value18 = value18; + packet.value19 = value19; + packet.value20 = value20; + packet.Index = Index; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_AQ_TELEMETRY_F; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#endif +} + +/** + * @brief Encode a aq_telemetry_f struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param aq_telemetry_f C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_aq_telemetry_f_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_aq_telemetry_f_t* aq_telemetry_f) +{ + return mavlink_msg_aq_telemetry_f_pack(system_id, component_id, msg, aq_telemetry_f->Index, aq_telemetry_f->value1, aq_telemetry_f->value2, aq_telemetry_f->value3, aq_telemetry_f->value4, aq_telemetry_f->value5, aq_telemetry_f->value6, aq_telemetry_f->value7, aq_telemetry_f->value8, aq_telemetry_f->value9, aq_telemetry_f->value10, aq_telemetry_f->value11, aq_telemetry_f->value12, aq_telemetry_f->value13, aq_telemetry_f->value14, aq_telemetry_f->value15, aq_telemetry_f->value16, aq_telemetry_f->value17, aq_telemetry_f->value18, aq_telemetry_f->value19, aq_telemetry_f->value20); +} + +/** + * @brief Send a aq_telemetry_f message + * @param chan MAVLink channel to send the message + * + * @param Index Index of message + * @param value1 value1 + * @param value2 value2 + * @param value3 value3 + * @param value4 value4 + * @param value5 value5 + * @param value6 value6 + * @param value7 value7 + * @param value8 value8 + * @param value9 value9 + * @param value10 value10 + * @param value11 value11 + * @param value12 value12 + * @param value13 value13 + * @param value14 value14 + * @param value15 value15 + * @param value16 value16 + * @param value17 value17 + * @param value18 value18 + * @param value19 value19 + * @param value20 value20 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_aq_telemetry_f_send(mavlink_channel_t chan, uint16_t Index, float value1, float value2, float value3, float value4, float value5, float value6, float value7, float value8, float value9, float value10, float value11, float value12, float value13, float value14, float value15, float value16, float value17, float value18, float value19, float value20) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN]; + _mav_put_float(buf, 0, value1); + _mav_put_float(buf, 4, value2); + _mav_put_float(buf, 8, value3); + _mav_put_float(buf, 12, value4); + _mav_put_float(buf, 16, value5); + _mav_put_float(buf, 20, value6); + _mav_put_float(buf, 24, value7); + _mav_put_float(buf, 28, value8); + _mav_put_float(buf, 32, value9); + _mav_put_float(buf, 36, value10); + _mav_put_float(buf, 40, value11); + _mav_put_float(buf, 44, value12); + _mav_put_float(buf, 48, value13); + _mav_put_float(buf, 52, value14); + _mav_put_float(buf, 56, value15); + _mav_put_float(buf, 60, value16); + _mav_put_float(buf, 64, value17); + _mav_put_float(buf, 68, value18); + _mav_put_float(buf, 72, value19); + _mav_put_float(buf, 76, value20); + _mav_put_uint16_t(buf, 80, Index); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, buf, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#endif +#else + mavlink_aq_telemetry_f_t packet; + packet.value1 = value1; + packet.value2 = value2; + packet.value3 = value3; + packet.value4 = value4; + packet.value5 = value5; + packet.value6 = value6; + packet.value7 = value7; + packet.value8 = value8; + packet.value9 = value9; + packet.value10 = value10; + packet.value11 = value11; + packet.value12 = value12; + packet.value13 = value13; + packet.value14 = value14; + packet.value15 = value15; + packet.value16 = value16; + packet.value17 = value17; + packet.value18 = value18; + packet.value19 = value19; + packet.value20 = value20; + packet.Index = Index; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, (const char *)&packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN, MAVLINK_MSG_ID_AQ_TELEMETRY_F_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AQ_TELEMETRY_F, (const char *)&packet, MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#endif +#endif +} + +#endif + +// MESSAGE AQ_TELEMETRY_F UNPACKING + + +/** + * @brief Get field Index from aq_telemetry_f message + * + * @return Index of message + */ +static inline uint16_t mavlink_msg_aq_telemetry_f_get_Index(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 80); +} + +/** + * @brief Get field value1 from aq_telemetry_f message + * + * @return value1 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field value2 from aq_telemetry_f message + * + * @return value2 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field value3 from aq_telemetry_f message + * + * @return value3 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field value4 from aq_telemetry_f message + * + * @return value4 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field value5 from aq_telemetry_f message + * + * @return value5 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value5(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field value6 from aq_telemetry_f message + * + * @return value6 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value6(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field value7 from aq_telemetry_f message + * + * @return value7 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value7(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field value8 from aq_telemetry_f message + * + * @return value8 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value8(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field value9 from aq_telemetry_f message + * + * @return value9 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value9(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field value10 from aq_telemetry_f message + * + * @return value10 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value10(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 36); +} + +/** + * @brief Get field value11 from aq_telemetry_f message + * + * @return value11 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value11(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 40); +} + +/** + * @brief Get field value12 from aq_telemetry_f message + * + * @return value12 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value12(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 44); +} + +/** + * @brief Get field value13 from aq_telemetry_f message + * + * @return value13 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value13(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 48); +} + +/** + * @brief Get field value14 from aq_telemetry_f message + * + * @return value14 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value14(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 52); +} + +/** + * @brief Get field value15 from aq_telemetry_f message + * + * @return value15 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value15(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 56); +} + +/** + * @brief Get field value16 from aq_telemetry_f message + * + * @return value16 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value16(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 60); +} + +/** + * @brief Get field value17 from aq_telemetry_f message + * + * @return value17 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value17(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 64); +} + +/** + * @brief Get field value18 from aq_telemetry_f message + * + * @return value18 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value18(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 68); +} + +/** + * @brief Get field value19 from aq_telemetry_f message + * + * @return value19 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value19(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 72); +} + +/** + * @brief Get field value20 from aq_telemetry_f message + * + * @return value20 + */ +static inline float mavlink_msg_aq_telemetry_f_get_value20(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 76); +} + +/** + * @brief Decode a aq_telemetry_f message into a struct + * + * @param msg The message to decode + * @param aq_telemetry_f C-struct to decode the message contents into + */ +static inline void mavlink_msg_aq_telemetry_f_decode(const mavlink_message_t* msg, mavlink_aq_telemetry_f_t* aq_telemetry_f) +{ +#if MAVLINK_NEED_BYTE_SWAP + aq_telemetry_f->value1 = mavlink_msg_aq_telemetry_f_get_value1(msg); + aq_telemetry_f->value2 = mavlink_msg_aq_telemetry_f_get_value2(msg); + aq_telemetry_f->value3 = mavlink_msg_aq_telemetry_f_get_value3(msg); + aq_telemetry_f->value4 = mavlink_msg_aq_telemetry_f_get_value4(msg); + aq_telemetry_f->value5 = mavlink_msg_aq_telemetry_f_get_value5(msg); + aq_telemetry_f->value6 = mavlink_msg_aq_telemetry_f_get_value6(msg); + aq_telemetry_f->value7 = mavlink_msg_aq_telemetry_f_get_value7(msg); + aq_telemetry_f->value8 = mavlink_msg_aq_telemetry_f_get_value8(msg); + aq_telemetry_f->value9 = mavlink_msg_aq_telemetry_f_get_value9(msg); + aq_telemetry_f->value10 = mavlink_msg_aq_telemetry_f_get_value10(msg); + aq_telemetry_f->value11 = mavlink_msg_aq_telemetry_f_get_value11(msg); + aq_telemetry_f->value12 = mavlink_msg_aq_telemetry_f_get_value12(msg); + aq_telemetry_f->value13 = mavlink_msg_aq_telemetry_f_get_value13(msg); + aq_telemetry_f->value14 = mavlink_msg_aq_telemetry_f_get_value14(msg); + aq_telemetry_f->value15 = mavlink_msg_aq_telemetry_f_get_value15(msg); + aq_telemetry_f->value16 = mavlink_msg_aq_telemetry_f_get_value16(msg); + aq_telemetry_f->value17 = mavlink_msg_aq_telemetry_f_get_value17(msg); + aq_telemetry_f->value18 = mavlink_msg_aq_telemetry_f_get_value18(msg); + aq_telemetry_f->value19 = mavlink_msg_aq_telemetry_f_get_value19(msg); + aq_telemetry_f->value20 = mavlink_msg_aq_telemetry_f_get_value20(msg); + aq_telemetry_f->Index = mavlink_msg_aq_telemetry_f_get_Index(msg); +#else + memcpy(aq_telemetry_f, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AQ_TELEMETRY_F_LEN); +#endif +} diff --git a/libs/mavlink/include/mavlink/v1.0/autoquad/testsuite.h b/libs/mavlink/include/mavlink/v1.0/autoquad/testsuite.h new file mode 100644 index 0000000000000000000000000000000000000000..dbec869cea3aece7852b4c927e4e9d0fc2ba6b19 --- /dev/null +++ b/libs/mavlink/include/mavlink/v1.0/autoquad/testsuite.h @@ -0,0 +1,118 @@ +/** @file + * @brief MAVLink comm protocol testsuite generated from autoquad.xml + * @see http://qgroundcontrol.org/mavlink/ + */ +#ifndef AUTOQUAD_TESTSUITE_H +#define AUTOQUAD_TESTSUITE_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifndef MAVLINK_TEST_ALL +#define MAVLINK_TEST_ALL +static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); +static void mavlink_test_autoquad(uint8_t, uint8_t, mavlink_message_t *last_msg); + +static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_test_common(system_id, component_id, last_msg); + mavlink_test_autoquad(system_id, component_id, last_msg); +} +#endif + +#include "../common/testsuite.h" + + +static void mavlink_test_aq_telemetry_f(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_aq_telemetry_f_t packet_in = { + 17.0, + 45.0, + 73.0, + 101.0, + 129.0, + 157.0, + 185.0, + 213.0, + 241.0, + 269.0, + 297.0, + 325.0, + 353.0, + 381.0, + 409.0, + 437.0, + 465.0, + 493.0, + 521.0, + 549.0, + 21395, + }; + mavlink_aq_telemetry_f_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.value1 = packet_in.value1; + packet1.value2 = packet_in.value2; + packet1.value3 = packet_in.value3; + packet1.value4 = packet_in.value4; + packet1.value5 = packet_in.value5; + packet1.value6 = packet_in.value6; + packet1.value7 = packet_in.value7; + packet1.value8 = packet_in.value8; + packet1.value9 = packet_in.value9; + packet1.value10 = packet_in.value10; + packet1.value11 = packet_in.value11; + packet1.value12 = packet_in.value12; + packet1.value13 = packet_in.value13; + packet1.value14 = packet_in.value14; + packet1.value15 = packet_in.value15; + packet1.value16 = packet_in.value16; + packet1.value17 = packet_in.value17; + packet1.value18 = packet_in.value18; + packet1.value19 = packet_in.value19; + packet1.value20 = packet_in.value20; + packet1.Index = packet_in.Index; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_aq_telemetry_f_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_aq_telemetry_f_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_aq_telemetry_f_pack(system_id, component_id, &msg , packet1.Index , packet1.value1 , packet1.value2 , packet1.value3 , packet1.value4 , packet1.value5 , packet1.value6 , packet1.value7 , packet1.value8 , packet1.value9 , packet1.value10 , packet1.value11 , packet1.value12 , packet1.value13 , packet1.value14 , packet1.value15 , packet1.value16 , packet1.value17 , packet1.value18 , packet1.value19 , packet1.value20 ); + mavlink_msg_aq_telemetry_f_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_aq_telemetry_f_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Index , packet1.value1 , packet1.value2 , packet1.value3 , packet1.value4 , packet1.value5 , packet1.value6 , packet1.value7 , packet1.value8 , packet1.value9 , packet1.value10 , packet1.value11 , packet1.value12 , packet1.value13 , packet1.value14 , packet1.value15 , packet1.value16 , packet1.value17 , packet1.value18 , packet1.value19 , packet1.value20 ); + mavlink_msg_aq_telemetry_f_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.| Desired yaw angle at MISSION (rotary wing)| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_UNLIM=17, /* Loiter around this MISSION an unlimited amount of time |Empty| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TURNS=18, /* Loiter around this MISSION for X turns |Turns| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_LOITER_TIME=19, /* Loiter around this MISSION for X seconds |Seconds (decimal)| Empty| Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_RETURN_TO_LAUNCH=20, /* Return to launch location |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_NAV_LAND=21, /* Land at location |Empty| Empty| Empty| Desired yaw angle.| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_TAKEOFF=22, /* Takeoff from ground / hand |Minimum pitch (if airspeed sensor present), desired pitch without sensor| Empty| Empty| Yaw angle (if magnetometer present), ignored without magnetometer| Latitude| Longitude| Altitude| */ + MAV_CMD_NAV_ROI=80, /* Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. |Region of intereset mode. (see MAV_ROI enum)| MISSION index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple ROI's)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z| */ + MAV_CMD_NAV_PATHPLANNING=81, /* Control autonomous path planning on the MAV. |0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning| 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid| Empty| Yaw angle at goal, in compass degrees, [0..360]| Latitude/X of goal| Longitude/Y of goal| Altitude/Z of goal| */ + MAV_CMD_NAV_LAST=95, /* NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_DELAY=112, /* Delay mission state machine. |Delay in seconds (decimal)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_CHANGE_ALT=113, /* Ascend/descend at rate. Delay mission state machine until desired altitude reached. |Descent / Ascend rate (m/s)| Empty| Empty| Empty| Empty| Empty| Finish Altitude| */ + MAV_CMD_CONDITION_DISTANCE=114, /* Delay mission state machine until within desired distance of next NAV point. |Distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_YAW=115, /* Reach a certain target angle. |target angle: [0-360], 0 is north| speed during yaw change:[deg per second]| direction: negative: counter clockwise, positive: clockwise [-1,1]| relative offset or absolute angle: [ 1,0]| Empty| Empty| Empty| */ + MAV_CMD_CONDITION_LAST=159, /* NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_MODE=176, /* Set system mode. |Mode, as defined by ENUM MAV_MODE| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_JUMP=177, /* Jump to the desired command in the mission list. Repeat this action only the specified number of times |Sequence number| Repeat count| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_CHANGE_SPEED=178, /* Change speed and/or throttle set points. |Speed type (0=Airspeed, 1=Ground Speed)| Speed (m/s, -1 indicates no change)| Throttle ( Percent, -1 indicates no change)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_HOME=179, /* Changes the home location either to the current location or a specified location. |Use current (1=use current location, 0=use specified location)| Empty| Empty| Empty| Latitude| Longitude| Altitude| */ + MAV_CMD_DO_SET_PARAMETER=180, /* Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. |Parameter number| Parameter value| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_RELAY=181, /* Set a relay to a condition. |Relay number| Setting (1=on, 0=off, others possible depending on system hardware)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_RELAY=182, /* Cycle a relay on and off for a desired number of cyles with a desired period. |Relay number| Cycle count| Cycle time (seconds, decimal)| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_SET_SERVO=183, /* Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_DO_REPEAT_SERVO=184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */ + MAV_CMD_DO_CONTROL_VIDEO=200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */ + MAV_CMD_DO_LAST=240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_CALIBRATION=241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */ + MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS=242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */ + MAV_CMD_PREFLIGHT_STORAGE=245, /* Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. |Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN=246, /* Request the reboot or shutdown of system components. |0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot.| 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer.| Reserved| Reserved| Empty| Empty| Empty| */ + MAV_CMD_OVERRIDE_GOTO=252, /* Hold / continue the current action |MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan| MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position| MAV_FRAME coordinate frame of hold point| Desired yaw angle in degrees| Latitude / X position| Longitude / Y position| Altitude / Z position| */ + MAV_CMD_MISSION_START=300, /* start running a mission |first_item: the first mission item to run| last_item: the last mission item to run (after this item is run, the mission ends)| */ + MAV_CMD_COMPONENT_ARM_DISARM=400, /* Arms / Disarms a component |1 to arm, 0 to disarm| */ + MAV_CMD_ENUM_END=401, /* | */ +}; +#endif + /** @brief Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. */ @@ -451,6 +493,8 @@ enum MAV_SEVERITY #include "./mavlink_msg_file_transfer_start.h" #include "./mavlink_msg_file_transfer_dir_list.h" #include "./mavlink_msg_file_transfer_res.h" +#include "./mavlink_msg_hil_gps.h" +#include "./mavlink_msg_hil_optical_flow.h" #include "./mavlink_msg_battery_status.h" #include "./mavlink_msg_setpoint_8dof.h" #include "./mavlink_msg_setpoint_6dof.h" diff --git a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h new file mode 100644 index 0000000000000000000000000000000000000000..75ab6835ddc98ea1c0d3dcc27e8c51495220eca1 --- /dev/null +++ b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_gps.h @@ -0,0 +1,427 @@ +// MESSAGE HIL_GPS PACKING + +#define MAVLINK_MSG_ID_HIL_GPS 113 + +typedef struct __mavlink_hil_gps_t +{ + uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + int32_t lat; ///< Latitude (WGS84), in degrees * 1E7 + int32_t lon; ///< Longitude (WGS84), in degrees * 1E7 + int32_t alt; ///< Altitude (WGS84), in meters * 1000 (positive for up) + uint16_t eph; ///< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + uint16_t epv; ///< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + uint16_t vel; ///< GPS ground speed (m/s * 100). If unknown, set to: 65535 + int16_t vn; ///< GPS velocity in cm/s in NORTH direction in earth-fixed NED frame + int16_t ve; ///< GPS velocity in cm/s in EAST direction in earth-fixed NED frame + int16_t vd; ///< GPS velocity in cm/s in DOWN direction in earth-fixed NED frame + uint16_t cog; ///< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + uint8_t satellites_visible; ///< Number of satellites visible. If unknown, set to 255 +} mavlink_hil_gps_t; + +#define MAVLINK_MSG_ID_HIL_GPS_LEN 36 +#define MAVLINK_MSG_ID_113_LEN 36 + +#define MAVLINK_MSG_ID_HIL_GPS_CRC 124 +#define MAVLINK_MSG_ID_113_CRC 124 + + + +#define MAVLINK_MESSAGE_INFO_HIL_GPS { \ + "HIL_GPS", \ + 13, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_gps_t, time_usec) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_hil_gps_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_hil_gps_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_hil_gps_t, alt) }, \ + { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_hil_gps_t, eph) }, \ + { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 22, offsetof(mavlink_hil_gps_t, epv) }, \ + { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_hil_gps_t, vel) }, \ + { "vn", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_hil_gps_t, vn) }, \ + { "ve", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_hil_gps_t, ve) }, \ + { "vd", NULL, MAVLINK_TYPE_INT16_T, 0, 30, offsetof(mavlink_hil_gps_t, vd) }, \ + { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 32, offsetof(mavlink_hil_gps_t, cog) }, \ + { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_hil_gps_t, fix_type) }, \ + { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_hil_gps_t, satellites_visible) }, \ + } \ +} + + +/** + * @brief Pack a hil_gps message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude (WGS84), in degrees * 1E7 + * @param lon Longitude (WGS84), in degrees * 1E7 + * @param alt Altitude (WGS84), in meters * 1000 (positive for up) + * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 + * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame + * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame + * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame + * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + * @param satellites_visible Number of satellites visible. If unknown, set to 255 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_gps_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_GPS_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lon); + _mav_put_int32_t(buf, 16, alt); + _mav_put_uint16_t(buf, 20, eph); + _mav_put_uint16_t(buf, 22, epv); + _mav_put_uint16_t(buf, 24, vel); + _mav_put_int16_t(buf, 26, vn); + _mav_put_int16_t(buf, 28, ve); + _mav_put_int16_t(buf, 30, vd); + _mav_put_uint16_t(buf, 32, cog); + _mav_put_uint8_t(buf, 34, fix_type); + _mav_put_uint8_t(buf, 35, satellites_visible); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN); +#else + mavlink_hil_gps_t packet; + packet.time_usec = time_usec; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.vel = vel; + packet.vn = vn; + packet.ve = ve; + packet.vd = vd; + packet.cog = cog; + packet.fix_type = fix_type; + packet.satellites_visible = satellites_visible; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_GPS; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_GPS_LEN); +#endif +} + +/** + * @brief Pack a hil_gps message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude (WGS84), in degrees * 1E7 + * @param lon Longitude (WGS84), in degrees * 1E7 + * @param alt Altitude (WGS84), in meters * 1000 (positive for up) + * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 + * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame + * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame + * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame + * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + * @param satellites_visible Number of satellites visible. If unknown, set to 255 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_gps_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,int16_t vn,int16_t ve,int16_t vd,uint16_t cog,uint8_t satellites_visible) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_GPS_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lon); + _mav_put_int32_t(buf, 16, alt); + _mav_put_uint16_t(buf, 20, eph); + _mav_put_uint16_t(buf, 22, epv); + _mav_put_uint16_t(buf, 24, vel); + _mav_put_int16_t(buf, 26, vn); + _mav_put_int16_t(buf, 28, ve); + _mav_put_int16_t(buf, 30, vd); + _mav_put_uint16_t(buf, 32, cog); + _mav_put_uint8_t(buf, 34, fix_type); + _mav_put_uint8_t(buf, 35, satellites_visible); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_GPS_LEN); +#else + mavlink_hil_gps_t packet; + packet.time_usec = time_usec; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.vel = vel; + packet.vn = vn; + packet.ve = ve; + packet.vd = vd; + packet.cog = cog; + packet.fix_type = fix_type; + packet.satellites_visible = satellites_visible; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_GPS_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_GPS; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_GPS_LEN); +#endif +} + +/** + * @brief Encode a hil_gps struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param hil_gps C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_hil_gps_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_gps_t* hil_gps) +{ + return mavlink_msg_hil_gps_pack(system_id, component_id, msg, hil_gps->time_usec, hil_gps->fix_type, hil_gps->lat, hil_gps->lon, hil_gps->alt, hil_gps->eph, hil_gps->epv, hil_gps->vel, hil_gps->vn, hil_gps->ve, hil_gps->vd, hil_gps->cog, hil_gps->satellites_visible); +} + +/** + * @brief Send a hil_gps message + * @param chan MAVLink channel to send the message + * + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + * @param lat Latitude (WGS84), in degrees * 1E7 + * @param lon Longitude (WGS84), in degrees * 1E7 + * @param alt Altitude (WGS84), in meters * 1000 (positive for up) + * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param epv GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + * @param vel GPS ground speed (m/s * 100). If unknown, set to: 65535 + * @param vn GPS velocity in cm/s in NORTH direction in earth-fixed NED frame + * @param ve GPS velocity in cm/s in EAST direction in earth-fixed NED frame + * @param vd GPS velocity in cm/s in DOWN direction in earth-fixed NED frame + * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + * @param satellites_visible Number of satellites visible. If unknown, set to 255 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_hil_gps_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, int16_t vn, int16_t ve, int16_t vd, uint16_t cog, uint8_t satellites_visible) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_GPS_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_int32_t(buf, 8, lat); + _mav_put_int32_t(buf, 12, lon); + _mav_put_int32_t(buf, 16, alt); + _mav_put_uint16_t(buf, 20, eph); + _mav_put_uint16_t(buf, 22, epv); + _mav_put_uint16_t(buf, 24, vel); + _mav_put_int16_t(buf, 26, vn); + _mav_put_int16_t(buf, 28, ve); + _mav_put_int16_t(buf, 30, vd); + _mav_put_uint16_t(buf, 32, cog); + _mav_put_uint8_t(buf, 34, fix_type); + _mav_put_uint8_t(buf, 35, satellites_visible); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, buf, MAVLINK_MSG_ID_HIL_GPS_LEN); +#endif +#else + mavlink_hil_gps_t packet; + packet.time_usec = time_usec; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.eph = eph; + packet.epv = epv; + packet.vel = vel; + packet.vn = vn; + packet.ve = ve; + packet.vd = vd; + packet.cog = cog; + packet.fix_type = fix_type; + packet.satellites_visible = satellites_visible; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN, MAVLINK_MSG_ID_HIL_GPS_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_GPS, (const char *)&packet, MAVLINK_MSG_ID_HIL_GPS_LEN); +#endif +#endif +} + +#endif + +// MESSAGE HIL_GPS UNPACKING + + +/** + * @brief Get field time_usec from hil_gps message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_hil_gps_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field fix_type from hil_gps message + * + * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. + */ +static inline uint8_t mavlink_msg_hil_gps_get_fix_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 34); +} + +/** + * @brief Get field lat from hil_gps message + * + * @return Latitude (WGS84), in degrees * 1E7 + */ +static inline int32_t mavlink_msg_hil_gps_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 8); +} + +/** + * @brief Get field lon from hil_gps message + * + * @return Longitude (WGS84), in degrees * 1E7 + */ +static inline int32_t mavlink_msg_hil_gps_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 12); +} + +/** + * @brief Get field alt from hil_gps message + * + * @return Altitude (WGS84), in meters * 1000 (positive for up) + */ +static inline int32_t mavlink_msg_hil_gps_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 16); +} + +/** + * @brief Get field eph from hil_gps message + * + * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + */ +static inline uint16_t mavlink_msg_hil_gps_get_eph(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 20); +} + +/** + * @brief Get field epv from hil_gps message + * + * @return GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 + */ +static inline uint16_t mavlink_msg_hil_gps_get_epv(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 22); +} + +/** + * @brief Get field vel from hil_gps message + * + * @return GPS ground speed (m/s * 100). If unknown, set to: 65535 + */ +static inline uint16_t mavlink_msg_hil_gps_get_vel(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 24); +} + +/** + * @brief Get field vn from hil_gps message + * + * @return GPS velocity in cm/s in NORTH direction in earth-fixed NED frame + */ +static inline int16_t mavlink_msg_hil_gps_get_vn(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 26); +} + +/** + * @brief Get field ve from hil_gps message + * + * @return GPS velocity in cm/s in EAST direction in earth-fixed NED frame + */ +static inline int16_t mavlink_msg_hil_gps_get_ve(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 28); +} + +/** + * @brief Get field vd from hil_gps message + * + * @return GPS velocity in cm/s in DOWN direction in earth-fixed NED frame + */ +static inline int16_t mavlink_msg_hil_gps_get_vd(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 30); +} + +/** + * @brief Get field cog from hil_gps message + * + * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 + */ +static inline uint16_t mavlink_msg_hil_gps_get_cog(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 32); +} + +/** + * @brief Get field satellites_visible from hil_gps message + * + * @return Number of satellites visible. If unknown, set to 255 + */ +static inline uint8_t mavlink_msg_hil_gps_get_satellites_visible(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 35); +} + +/** + * @brief Decode a hil_gps message into a struct + * + * @param msg The message to decode + * @param hil_gps C-struct to decode the message contents into + */ +static inline void mavlink_msg_hil_gps_decode(const mavlink_message_t* msg, mavlink_hil_gps_t* hil_gps) +{ +#if MAVLINK_NEED_BYTE_SWAP + hil_gps->time_usec = mavlink_msg_hil_gps_get_time_usec(msg); + hil_gps->lat = mavlink_msg_hil_gps_get_lat(msg); + hil_gps->lon = mavlink_msg_hil_gps_get_lon(msg); + hil_gps->alt = mavlink_msg_hil_gps_get_alt(msg); + hil_gps->eph = mavlink_msg_hil_gps_get_eph(msg); + hil_gps->epv = mavlink_msg_hil_gps_get_epv(msg); + hil_gps->vel = mavlink_msg_hil_gps_get_vel(msg); + hil_gps->vn = mavlink_msg_hil_gps_get_vn(msg); + hil_gps->ve = mavlink_msg_hil_gps_get_ve(msg); + hil_gps->vd = mavlink_msg_hil_gps_get_vd(msg); + hil_gps->cog = mavlink_msg_hil_gps_get_cog(msg); + hil_gps->fix_type = mavlink_msg_hil_gps_get_fix_type(msg); + hil_gps->satellites_visible = mavlink_msg_hil_gps_get_satellites_visible(msg); +#else + memcpy(hil_gps, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_GPS_LEN); +#endif +} diff --git a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h new file mode 100644 index 0000000000000000000000000000000000000000..13e13d47cb7f0d472624b787a833390a6ebf680b --- /dev/null +++ b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_optical_flow.h @@ -0,0 +1,317 @@ +// MESSAGE HIL_OPTICAL_FLOW PACKING + +#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW 114 + +typedef struct __mavlink_hil_optical_flow_t +{ + uint64_t time_usec; ///< Timestamp (UNIX) + float flow_comp_m_x; ///< Flow in meters in x-sensor direction, angular-speed compensated + float flow_comp_m_y; ///< Flow in meters in y-sensor direction, angular-speed compensated + float ground_distance; ///< Ground distance in meters. Positive value: distance known. Negative value: Unknown distance + int16_t flow_x; ///< Flow in pixels in x-sensor direction + int16_t flow_y; ///< Flow in pixels in y-sensor direction + uint8_t sensor_id; ///< Sensor ID + uint8_t quality; ///< Optical flow quality / confidence. 0: bad, 255: maximum quality +} mavlink_hil_optical_flow_t; + +#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN 26 +#define MAVLINK_MSG_ID_114_LEN 26 + +#define MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC 119 +#define MAVLINK_MSG_ID_114_CRC 119 + + + +#define MAVLINK_MESSAGE_INFO_HIL_OPTICAL_FLOW { \ + "HIL_OPTICAL_FLOW", \ + 8, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_optical_flow_t, time_usec) }, \ + { "flow_comp_m_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_optical_flow_t, flow_comp_m_x) }, \ + { "flow_comp_m_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_optical_flow_t, flow_comp_m_y) }, \ + { "ground_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_optical_flow_t, ground_distance) }, \ + { "flow_x", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_hil_optical_flow_t, flow_x) }, \ + { "flow_y", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_hil_optical_flow_t, flow_y) }, \ + { "sensor_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 24, offsetof(mavlink_hil_optical_flow_t, sensor_id) }, \ + { "quality", NULL, MAVLINK_TYPE_UINT8_T, 0, 25, offsetof(mavlink_hil_optical_flow_t, quality) }, \ + } \ +} + + +/** + * @brief Pack a hil_optical_flow message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_usec Timestamp (UNIX) + * @param sensor_id Sensor ID + * @param flow_x Flow in pixels in x-sensor direction + * @param flow_y Flow in pixels in y-sensor direction + * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated + * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated + * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality + * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_optical_flow_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, flow_comp_m_x); + _mav_put_float(buf, 12, flow_comp_m_y); + _mav_put_float(buf, 16, ground_distance); + _mav_put_int16_t(buf, 20, flow_x); + _mav_put_int16_t(buf, 22, flow_y); + _mav_put_uint8_t(buf, 24, sensor_id); + _mav_put_uint8_t(buf, 25, quality); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#else + mavlink_hil_optical_flow_t packet; + packet.time_usec = time_usec; + packet.flow_comp_m_x = flow_comp_m_x; + packet.flow_comp_m_y = flow_comp_m_y; + packet.ground_distance = ground_distance; + packet.flow_x = flow_x; + packet.flow_y = flow_y; + packet.sensor_id = sensor_id; + packet.quality = quality; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#endif +} + +/** + * @brief Pack a hil_optical_flow message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param time_usec Timestamp (UNIX) + * @param sensor_id Sensor ID + * @param flow_x Flow in pixels in x-sensor direction + * @param flow_y Flow in pixels in y-sensor direction + * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated + * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated + * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality + * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_optical_flow_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,uint8_t sensor_id,int16_t flow_x,int16_t flow_y,float flow_comp_m_x,float flow_comp_m_y,uint8_t quality,float ground_distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, flow_comp_m_x); + _mav_put_float(buf, 12, flow_comp_m_y); + _mav_put_float(buf, 16, ground_distance); + _mav_put_int16_t(buf, 20, flow_x); + _mav_put_int16_t(buf, 22, flow_y); + _mav_put_uint8_t(buf, 24, sensor_id); + _mav_put_uint8_t(buf, 25, quality); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#else + mavlink_hil_optical_flow_t packet; + packet.time_usec = time_usec; + packet.flow_comp_m_x = flow_comp_m_x; + packet.flow_comp_m_y = flow_comp_m_y; + packet.ground_distance = ground_distance; + packet.flow_x = flow_x; + packet.flow_y = flow_y; + packet.sensor_id = sensor_id; + packet.quality = quality; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_OPTICAL_FLOW; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#endif +} + +/** + * @brief Encode a hil_optical_flow struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param hil_optical_flow C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_hil_optical_flow_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_optical_flow_t* hil_optical_flow) +{ + return mavlink_msg_hil_optical_flow_pack(system_id, component_id, msg, hil_optical_flow->time_usec, hil_optical_flow->sensor_id, hil_optical_flow->flow_x, hil_optical_flow->flow_y, hil_optical_flow->flow_comp_m_x, hil_optical_flow->flow_comp_m_y, hil_optical_flow->quality, hil_optical_flow->ground_distance); +} + +/** + * @brief Send a hil_optical_flow message + * @param chan MAVLink channel to send the message + * + * @param time_usec Timestamp (UNIX) + * @param sensor_id Sensor ID + * @param flow_x Flow in pixels in x-sensor direction + * @param flow_y Flow in pixels in y-sensor direction + * @param flow_comp_m_x Flow in meters in x-sensor direction, angular-speed compensated + * @param flow_comp_m_y Flow in meters in y-sensor direction, angular-speed compensated + * @param quality Optical flow quality / confidence. 0: bad, 255: maximum quality + * @param ground_distance Ground distance in meters. Positive value: distance known. Negative value: Unknown distance + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_hil_optical_flow_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t sensor_id, int16_t flow_x, int16_t flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t quality, float ground_distance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, flow_comp_m_x); + _mav_put_float(buf, 12, flow_comp_m_y); + _mav_put_float(buf, 16, ground_distance); + _mav_put_int16_t(buf, 20, flow_x); + _mav_put_int16_t(buf, 22, flow_y); + _mav_put_uint8_t(buf, 24, sensor_id); + _mav_put_uint8_t(buf, 25, quality); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, buf, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#endif +#else + mavlink_hil_optical_flow_t packet; + packet.time_usec = time_usec; + packet.flow_comp_m_x = flow_comp_m_x; + packet.flow_comp_m_y = flow_comp_m_y; + packet.ground_distance = ground_distance; + packet.flow_x = flow_x; + packet.flow_y = flow_y; + packet.sensor_id = sensor_id; + packet.quality = quality; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW, (const char *)&packet, MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#endif +#endif +} + +#endif + +// MESSAGE HIL_OPTICAL_FLOW UNPACKING + + +/** + * @brief Get field time_usec from hil_optical_flow message + * + * @return Timestamp (UNIX) + */ +static inline uint64_t mavlink_msg_hil_optical_flow_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field sensor_id from hil_optical_flow message + * + * @return Sensor ID + */ +static inline uint8_t mavlink_msg_hil_optical_flow_get_sensor_id(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 24); +} + +/** + * @brief Get field flow_x from hil_optical_flow message + * + * @return Flow in pixels in x-sensor direction + */ +static inline int16_t mavlink_msg_hil_optical_flow_get_flow_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 20); +} + +/** + * @brief Get field flow_y from hil_optical_flow message + * + * @return Flow in pixels in y-sensor direction + */ +static inline int16_t mavlink_msg_hil_optical_flow_get_flow_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 22); +} + +/** + * @brief Get field flow_comp_m_x from hil_optical_flow message + * + * @return Flow in meters in x-sensor direction, angular-speed compensated + */ +static inline float mavlink_msg_hil_optical_flow_get_flow_comp_m_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field flow_comp_m_y from hil_optical_flow message + * + * @return Flow in meters in y-sensor direction, angular-speed compensated + */ +static inline float mavlink_msg_hil_optical_flow_get_flow_comp_m_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field quality from hil_optical_flow message + * + * @return Optical flow quality / confidence. 0: bad, 255: maximum quality + */ +static inline uint8_t mavlink_msg_hil_optical_flow_get_quality(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 25); +} + +/** + * @brief Get field ground_distance from hil_optical_flow message + * + * @return Ground distance in meters. Positive value: distance known. Negative value: Unknown distance + */ +static inline float mavlink_msg_hil_optical_flow_get_ground_distance(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Decode a hil_optical_flow message into a struct + * + * @param msg The message to decode + * @param hil_optical_flow C-struct to decode the message contents into + */ +static inline void mavlink_msg_hil_optical_flow_decode(const mavlink_message_t* msg, mavlink_hil_optical_flow_t* hil_optical_flow) +{ +#if MAVLINK_NEED_BYTE_SWAP + hil_optical_flow->time_usec = mavlink_msg_hil_optical_flow_get_time_usec(msg); + hil_optical_flow->flow_comp_m_x = mavlink_msg_hil_optical_flow_get_flow_comp_m_x(msg); + hil_optical_flow->flow_comp_m_y = mavlink_msg_hil_optical_flow_get_flow_comp_m_y(msg); + hil_optical_flow->ground_distance = mavlink_msg_hil_optical_flow_get_ground_distance(msg); + hil_optical_flow->flow_x = mavlink_msg_hil_optical_flow_get_flow_x(msg); + hil_optical_flow->flow_y = mavlink_msg_hil_optical_flow_get_flow_y(msg); + hil_optical_flow->sensor_id = mavlink_msg_hil_optical_flow_get_sensor_id(msg); + hil_optical_flow->quality = mavlink_msg_hil_optical_flow_get_quality(msg); +#else + memcpy(hil_optical_flow, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_OPTICAL_FLOW_LEN); +#endif +} diff --git a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h index d5a07bc32b7caf8248049cb0ed329e3b2a11c56e..422e55adc8eddc71e45b766f8eb00c7fadb0cf34 100644 --- a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h +++ b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h @@ -5,11 +5,6 @@ typedef struct __mavlink_hil_sensor_t { uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot) - float roll; ///< Roll angle in inertial frame (rad) - float pitch; ///< Pitch angle in inertial frame (rad) - float yaw; ///< Yaw angle in inertial frame (rad) - int32_t lat; ///< Latitude, expressed as * 1E7 degrees - int32_t lon; ///< Longitude, expressed as * 1E7 degrees float xacc; ///< X acceleration (m/s^2) float yacc; ///< Y acceleration (m/s^2) float zacc; ///< Z acceleration (m/s^2) @@ -22,43 +17,36 @@ typedef struct __mavlink_hil_sensor_t float abs_pressure; ///< Absolute pressure in millibar float diff_pressure; ///< Differential pressure (airspeed) in millibar float pressure_alt; ///< Altitude calculated from pressure - float gps_alt; ///< GPS altitude (MSL) WGS84 float temperature; ///< Temperature in degrees celsius uint32_t fields_updated; ///< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature } mavlink_hil_sensor_t; -#define MAVLINK_MSG_ID_HIL_SENSOR_LEN 88 -#define MAVLINK_MSG_ID_107_LEN 88 +#define MAVLINK_MSG_ID_HIL_SENSOR_LEN 64 +#define MAVLINK_MSG_ID_107_LEN 64 -#define MAVLINK_MSG_ID_HIL_SENSOR_CRC 5 -#define MAVLINK_MSG_ID_107_CRC 5 +#define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108 +#define MAVLINK_MSG_ID_107_CRC 108 #define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \ "HIL_SENSOR", \ - 21, \ + 15, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \ - { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, roll) }, \ - { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, pitch) }, \ - { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, yaw) }, \ - { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_hil_sensor_t, lat) }, \ - { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_hil_sensor_t, lon) }, \ - { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, xacc) }, \ - { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, yacc) }, \ - { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, zacc) }, \ - { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, xgyro) }, \ - { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, ygyro) }, \ - { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, zgyro) }, \ - { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, xmag) }, \ - { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, ymag) }, \ - { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_hil_sensor_t, zmag) }, \ - { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \ - { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \ - { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \ - { "gps_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_hil_sensor_t, gps_alt) }, \ - { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_hil_sensor_t, temperature) }, \ - { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 84, offsetof(mavlink_hil_sensor_t, fields_updated) }, \ + { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \ + { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \ + { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \ + { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \ + { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \ + { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \ + { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \ + { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \ + { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \ + { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \ + { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \ + { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \ } \ } @@ -70,11 +58,6 @@ typedef struct __mavlink_hil_sensor_t * @param msg The MAVLink message to compress the data into * * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) - * @param roll Roll angle in inertial frame (rad) - * @param pitch Pitch angle in inertial frame (rad) - * @param yaw Yaw angle in inertial frame (rad) - * @param lat Latitude, expressed as * 1E7 degrees - * @param lon Longitude, expressed as * 1E7 degrees * @param xacc X acceleration (m/s^2) * @param yacc Y acceleration (m/s^2) * @param zacc Z acceleration (m/s^2) @@ -87,47 +70,35 @@ typedef struct __mavlink_hil_sensor_t * @param abs_pressure Absolute pressure in millibar * @param diff_pressure Differential pressure (airspeed) in millibar * @param pressure_alt Altitude calculated from pressure - * @param gps_alt GPS altitude (MSL) WGS84 * @param temperature Temperature in degrees celsius * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint64_t time_usec, float roll, float pitch, float yaw, int32_t lat, int32_t lon, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float gps_alt, float temperature, uint32_t fields_updated) + uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN]; _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, roll); - _mav_put_float(buf, 12, pitch); - _mav_put_float(buf, 16, yaw); - _mav_put_int32_t(buf, 20, lat); - _mav_put_int32_t(buf, 24, lon); - _mav_put_float(buf, 28, xacc); - _mav_put_float(buf, 32, yacc); - _mav_put_float(buf, 36, zacc); - _mav_put_float(buf, 40, xgyro); - _mav_put_float(buf, 44, ygyro); - _mav_put_float(buf, 48, zgyro); - _mav_put_float(buf, 52, xmag); - _mav_put_float(buf, 56, ymag); - _mav_put_float(buf, 60, zmag); - _mav_put_float(buf, 64, abs_pressure); - _mav_put_float(buf, 68, diff_pressure); - _mav_put_float(buf, 72, pressure_alt); - _mav_put_float(buf, 76, gps_alt); - _mav_put_float(buf, 80, temperature); - _mav_put_uint32_t(buf, 84, fields_updated); + _mav_put_float(buf, 8, xacc); + _mav_put_float(buf, 12, yacc); + _mav_put_float(buf, 16, zacc); + _mav_put_float(buf, 20, xgyro); + _mav_put_float(buf, 24, ygyro); + _mav_put_float(buf, 28, zgyro); + _mav_put_float(buf, 32, xmag); + _mav_put_float(buf, 36, ymag); + _mav_put_float(buf, 40, zmag); + _mav_put_float(buf, 44, abs_pressure); + _mav_put_float(buf, 48, diff_pressure); + _mav_put_float(buf, 52, pressure_alt); + _mav_put_float(buf, 56, temperature); + _mav_put_uint32_t(buf, 60, fields_updated); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN); #else mavlink_hil_sensor_t packet; packet.time_usec = time_usec; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.lat = lat; - packet.lon = lon; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; @@ -140,7 +111,6 @@ static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t co packet.abs_pressure = abs_pressure; packet.diff_pressure = diff_pressure; packet.pressure_alt = pressure_alt; - packet.gps_alt = gps_alt; packet.temperature = temperature; packet.fields_updated = fields_updated; @@ -162,11 +132,6 @@ static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t co * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) - * @param roll Roll angle in inertial frame (rad) - * @param pitch Pitch angle in inertial frame (rad) - * @param yaw Yaw angle in inertial frame (rad) - * @param lat Latitude, expressed as * 1E7 degrees - * @param lon Longitude, expressed as * 1E7 degrees * @param xacc X acceleration (m/s^2) * @param yacc Y acceleration (m/s^2) * @param zacc Z acceleration (m/s^2) @@ -179,48 +144,36 @@ static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t co * @param abs_pressure Absolute pressure in millibar * @param diff_pressure Differential pressure (airspeed) in millibar * @param pressure_alt Altitude calculated from pressure - * @param gps_alt GPS altitude (MSL) WGS84 * @param temperature Temperature in degrees celsius * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint64_t time_usec,float roll,float pitch,float yaw,int32_t lat,int32_t lon,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float gps_alt,float temperature,uint32_t fields_updated) + uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint32_t fields_updated) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN]; _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, roll); - _mav_put_float(buf, 12, pitch); - _mav_put_float(buf, 16, yaw); - _mav_put_int32_t(buf, 20, lat); - _mav_put_int32_t(buf, 24, lon); - _mav_put_float(buf, 28, xacc); - _mav_put_float(buf, 32, yacc); - _mav_put_float(buf, 36, zacc); - _mav_put_float(buf, 40, xgyro); - _mav_put_float(buf, 44, ygyro); - _mav_put_float(buf, 48, zgyro); - _mav_put_float(buf, 52, xmag); - _mav_put_float(buf, 56, ymag); - _mav_put_float(buf, 60, zmag); - _mav_put_float(buf, 64, abs_pressure); - _mav_put_float(buf, 68, diff_pressure); - _mav_put_float(buf, 72, pressure_alt); - _mav_put_float(buf, 76, gps_alt); - _mav_put_float(buf, 80, temperature); - _mav_put_uint32_t(buf, 84, fields_updated); + _mav_put_float(buf, 8, xacc); + _mav_put_float(buf, 12, yacc); + _mav_put_float(buf, 16, zacc); + _mav_put_float(buf, 20, xgyro); + _mav_put_float(buf, 24, ygyro); + _mav_put_float(buf, 28, zgyro); + _mav_put_float(buf, 32, xmag); + _mav_put_float(buf, 36, ymag); + _mav_put_float(buf, 40, zmag); + _mav_put_float(buf, 44, abs_pressure); + _mav_put_float(buf, 48, diff_pressure); + _mav_put_float(buf, 52, pressure_alt); + _mav_put_float(buf, 56, temperature); + _mav_put_uint32_t(buf, 60, fields_updated); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN); #else mavlink_hil_sensor_t packet; packet.time_usec = time_usec; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.lat = lat; - packet.lon = lon; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; @@ -233,7 +186,6 @@ static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8 packet.abs_pressure = abs_pressure; packet.diff_pressure = diff_pressure; packet.pressure_alt = pressure_alt; - packet.gps_alt = gps_alt; packet.temperature = temperature; packet.fields_updated = fields_updated; @@ -258,7 +210,7 @@ static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8 */ static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor) { - return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->roll, hil_sensor->pitch, hil_sensor->yaw, hil_sensor->lat, hil_sensor->lon, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->gps_alt, hil_sensor->temperature, hil_sensor->fields_updated); + return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated); } /** @@ -266,11 +218,6 @@ static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) - * @param roll Roll angle in inertial frame (rad) - * @param pitch Pitch angle in inertial frame (rad) - * @param yaw Yaw angle in inertial frame (rad) - * @param lat Latitude, expressed as * 1E7 degrees - * @param lon Longitude, expressed as * 1E7 degrees * @param xacc X acceleration (m/s^2) * @param yacc Y acceleration (m/s^2) * @param zacc Z acceleration (m/s^2) @@ -283,37 +230,30 @@ static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t * @param abs_pressure Absolute pressure in millibar * @param diff_pressure Differential pressure (airspeed) in millibar * @param pressure_alt Altitude calculated from pressure - * @param gps_alt GPS altitude (MSL) WGS84 * @param temperature Temperature in degrees celsius * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_hil_sensor_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, int32_t lat, int32_t lon, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float gps_alt, float temperature, uint32_t fields_updated) +static inline void mavlink_msg_hil_sensor_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN]; _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, roll); - _mav_put_float(buf, 12, pitch); - _mav_put_float(buf, 16, yaw); - _mav_put_int32_t(buf, 20, lat); - _mav_put_int32_t(buf, 24, lon); - _mav_put_float(buf, 28, xacc); - _mav_put_float(buf, 32, yacc); - _mav_put_float(buf, 36, zacc); - _mav_put_float(buf, 40, xgyro); - _mav_put_float(buf, 44, ygyro); - _mav_put_float(buf, 48, zgyro); - _mav_put_float(buf, 52, xmag); - _mav_put_float(buf, 56, ymag); - _mav_put_float(buf, 60, zmag); - _mav_put_float(buf, 64, abs_pressure); - _mav_put_float(buf, 68, diff_pressure); - _mav_put_float(buf, 72, pressure_alt); - _mav_put_float(buf, 76, gps_alt); - _mav_put_float(buf, 80, temperature); - _mav_put_uint32_t(buf, 84, fields_updated); + _mav_put_float(buf, 8, xacc); + _mav_put_float(buf, 12, yacc); + _mav_put_float(buf, 16, zacc); + _mav_put_float(buf, 20, xgyro); + _mav_put_float(buf, 24, ygyro); + _mav_put_float(buf, 28, zgyro); + _mav_put_float(buf, 32, xmag); + _mav_put_float(buf, 36, ymag); + _mav_put_float(buf, 40, zmag); + _mav_put_float(buf, 44, abs_pressure); + _mav_put_float(buf, 48, diff_pressure); + _mav_put_float(buf, 52, pressure_alt); + _mav_put_float(buf, 56, temperature); + _mav_put_uint32_t(buf, 60, fields_updated); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); @@ -323,11 +263,6 @@ static inline void mavlink_msg_hil_sensor_send(mavlink_channel_t chan, uint64_t #else mavlink_hil_sensor_t packet; packet.time_usec = time_usec; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.lat = lat; - packet.lon = lon; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; @@ -340,7 +275,6 @@ static inline void mavlink_msg_hil_sensor_send(mavlink_channel_t chan, uint64_t packet.abs_pressure = abs_pressure; packet.diff_pressure = diff_pressure; packet.pressure_alt = pressure_alt; - packet.gps_alt = gps_alt; packet.temperature = temperature; packet.fields_updated = fields_updated; @@ -367,56 +301,6 @@ static inline uint64_t mavlink_msg_hil_sensor_get_time_usec(const mavlink_messag return _MAV_RETURN_uint64_t(msg, 0); } -/** - * @brief Get field roll from hil_sensor message - * - * @return Roll angle in inertial frame (rad) - */ -static inline float mavlink_msg_hil_sensor_get_roll(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 8); -} - -/** - * @brief Get field pitch from hil_sensor message - * - * @return Pitch angle in inertial frame (rad) - */ -static inline float mavlink_msg_hil_sensor_get_pitch(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 12); -} - -/** - * @brief Get field yaw from hil_sensor message - * - * @return Yaw angle in inertial frame (rad) - */ -static inline float mavlink_msg_hil_sensor_get_yaw(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 16); -} - -/** - * @brief Get field lat from hil_sensor message - * - * @return Latitude, expressed as * 1E7 degrees - */ -static inline int32_t mavlink_msg_hil_sensor_get_lat(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 20); -} - -/** - * @brief Get field lon from hil_sensor message - * - * @return Longitude, expressed as * 1E7 degrees - */ -static inline int32_t mavlink_msg_hil_sensor_get_lon(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int32_t(msg, 24); -} - /** * @brief Get field xacc from hil_sensor message * @@ -424,7 +308,7 @@ static inline int32_t mavlink_msg_hil_sensor_get_lon(const mavlink_message_t* ms */ static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 28); + return _MAV_RETURN_float(msg, 8); } /** @@ -434,7 +318,7 @@ static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg */ static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 32); + return _MAV_RETURN_float(msg, 12); } /** @@ -444,7 +328,7 @@ static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg */ static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 36); + return _MAV_RETURN_float(msg, 16); } /** @@ -454,7 +338,7 @@ static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg */ static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 40); + return _MAV_RETURN_float(msg, 20); } /** @@ -464,7 +348,7 @@ static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* ms */ static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 44); + return _MAV_RETURN_float(msg, 24); } /** @@ -474,7 +358,7 @@ static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* ms */ static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 48); + return _MAV_RETURN_float(msg, 28); } /** @@ -484,7 +368,7 @@ static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* ms */ static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 52); + return _MAV_RETURN_float(msg, 32); } /** @@ -494,7 +378,7 @@ static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg */ static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 56); + return _MAV_RETURN_float(msg, 36); } /** @@ -504,7 +388,7 @@ static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg */ static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 60); + return _MAV_RETURN_float(msg, 40); } /** @@ -514,7 +398,7 @@ static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg */ static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 64); + return _MAV_RETURN_float(msg, 44); } /** @@ -524,7 +408,7 @@ static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_messag */ static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 68); + return _MAV_RETURN_float(msg, 48); } /** @@ -534,17 +418,7 @@ static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_messa */ static inline float mavlink_msg_hil_sensor_get_pressure_alt(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 72); -} - -/** - * @brief Get field gps_alt from hil_sensor message - * - * @return GPS altitude (MSL) WGS84 - */ -static inline float mavlink_msg_hil_sensor_get_gps_alt(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 76); + return _MAV_RETURN_float(msg, 52); } /** @@ -554,7 +428,7 @@ static inline float mavlink_msg_hil_sensor_get_gps_alt(const mavlink_message_t* */ static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 80); + return _MAV_RETURN_float(msg, 56); } /** @@ -564,7 +438,7 @@ static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message */ static inline uint32_t mavlink_msg_hil_sensor_get_fields_updated(const mavlink_message_t* msg) { - return _MAV_RETURN_uint32_t(msg, 84); + return _MAV_RETURN_uint32_t(msg, 60); } /** @@ -577,11 +451,6 @@ static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, m { #if MAVLINK_NEED_BYTE_SWAP hil_sensor->time_usec = mavlink_msg_hil_sensor_get_time_usec(msg); - hil_sensor->roll = mavlink_msg_hil_sensor_get_roll(msg); - hil_sensor->pitch = mavlink_msg_hil_sensor_get_pitch(msg); - hil_sensor->yaw = mavlink_msg_hil_sensor_get_yaw(msg); - hil_sensor->lat = mavlink_msg_hil_sensor_get_lat(msg); - hil_sensor->lon = mavlink_msg_hil_sensor_get_lon(msg); hil_sensor->xacc = mavlink_msg_hil_sensor_get_xacc(msg); hil_sensor->yacc = mavlink_msg_hil_sensor_get_yacc(msg); hil_sensor->zacc = mavlink_msg_hil_sensor_get_zacc(msg); @@ -594,7 +463,6 @@ static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, m hil_sensor->abs_pressure = mavlink_msg_hil_sensor_get_abs_pressure(msg); hil_sensor->diff_pressure = mavlink_msg_hil_sensor_get_diff_pressure(msg); hil_sensor->pressure_alt = mavlink_msg_hil_sensor_get_pressure_alt(msg); - hil_sensor->gps_alt = mavlink_msg_hil_sensor_get_gps_alt(msg); hil_sensor->temperature = mavlink_msg_hil_sensor_get_temperature(msg); hil_sensor->fields_updated = mavlink_msg_hil_sensor_get_fields_updated(msg); #else diff --git a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h index a27f19cde679e07f7dbab4ffed160e18c95a6bc6..ce6543599de59ce3ce7f52f5ce38586f940c9ac8 100644 --- a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h +++ b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_state.h @@ -5,50 +5,50 @@ typedef struct __mavlink_hil_state_t { uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) - float roll; ///< Roll angle (rad) - float pitch; ///< Pitch angle (rad) - float yaw; ///< Yaw angle (rad) - float rollspeed; ///< Roll angular speed (rad/s) - float pitchspeed; ///< Pitch angular speed (rad/s) - float yawspeed; ///< Yaw angular speed (rad/s) + float attitude_quaternion[4]; ///< Vehicle attitude expressed as normalized quaternion + float rollspeed; ///< Body frame roll / phi angular speed (rad/s) + float pitchspeed; ///< Body frame pitch / theta angular speed (rad/s) + float yawspeed; ///< Body frame yaw / psi angular speed (rad/s) int32_t lat; ///< Latitude, expressed as * 1E7 int32_t lon; ///< Longitude, expressed as * 1E7 int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 + uint16_t ind_airspeed; ///< Indicated airspeed, expressed as m/s * 100 + uint16_t true_airspeed; ///< True airspeed, expressed as m/s * 100 int16_t xacc; ///< X acceleration (mg) int16_t yacc; ///< Y acceleration (mg) int16_t zacc; ///< Z acceleration (mg) } mavlink_hil_state_t; -#define MAVLINK_MSG_ID_HIL_STATE_LEN 56 -#define MAVLINK_MSG_ID_90_LEN 56 - -#define MAVLINK_MSG_ID_HIL_STATE_CRC 183 -#define MAVLINK_MSG_ID_90_CRC 183 +#define MAVLINK_MSG_ID_HIL_STATE_LEN 64 +#define MAVLINK_MSG_ID_90_LEN 64 +#define MAVLINK_MSG_ID_HIL_STATE_CRC 162 +#define MAVLINK_MSG_ID_90_CRC 162 +#define MAVLINK_MSG_HIL_STATE_FIELD_ATTITUDE_QUATERNION_LEN 4 #define MAVLINK_MESSAGE_INFO_HIL_STATE { \ "HIL_STATE", \ 16, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \ - { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \ - { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \ - { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \ - { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \ - { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \ - { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \ - { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \ - { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \ - { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \ - { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \ - { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \ - { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \ - { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \ - { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \ - { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \ + { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_t, attitude_quaternion) }, \ + { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, rollspeed) }, \ + { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, pitchspeed) }, \ + { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_t, yawspeed) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_t, alt) }, \ + { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, vz) }, \ + { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_t, ind_airspeed) }, \ + { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_t, true_airspeed) }, \ + { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_t, zacc) }, \ } \ } @@ -60,52 +60,48 @@ typedef struct __mavlink_hil_state_t * @param msg The MAVLink message to compress the data into * * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll Roll angle (rad) - * @param pitch Pitch angle (rad) - * @param yaw Yaw angle (rad) - * @param rollspeed Roll angular speed (rad/s) - * @param pitchspeed Pitch angular speed (rad/s) - * @param yawspeed Yaw angular speed (rad/s) + * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion + * @param rollspeed Body frame roll / phi angular speed (rad/s) + * @param pitchspeed Body frame pitch / theta angular speed (rad/s) + * @param yawspeed Body frame yaw / psi angular speed (rad/s) * @param lat Latitude, expressed as * 1E7 * @param lon Longitude, expressed as * 1E7 * @param alt Altitude in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param ind_airspeed Indicated airspeed, expressed as m/s * 100 + * @param true_airspeed True airspeed, expressed as m/s * 100 * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) + uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_STATE_LEN]; _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, roll); - _mav_put_float(buf, 12, pitch); - _mav_put_float(buf, 16, yaw); - _mav_put_float(buf, 20, rollspeed); - _mav_put_float(buf, 24, pitchspeed); - _mav_put_float(buf, 28, yawspeed); - _mav_put_int32_t(buf, 32, lat); - _mav_put_int32_t(buf, 36, lon); - _mav_put_int32_t(buf, 40, alt); - _mav_put_int16_t(buf, 44, vx); - _mav_put_int16_t(buf, 46, vy); - _mav_put_int16_t(buf, 48, vz); - _mav_put_int16_t(buf, 50, xacc); - _mav_put_int16_t(buf, 52, yacc); - _mav_put_int16_t(buf, 54, zacc); - + _mav_put_float(buf, 24, rollspeed); + _mav_put_float(buf, 28, pitchspeed); + _mav_put_float(buf, 32, yawspeed); + _mav_put_int32_t(buf, 36, lat); + _mav_put_int32_t(buf, 40, lon); + _mav_put_int32_t(buf, 44, alt); + _mav_put_int16_t(buf, 48, vx); + _mav_put_int16_t(buf, 50, vy); + _mav_put_int16_t(buf, 52, vz); + _mav_put_uint16_t(buf, 54, ind_airspeed); + _mav_put_uint16_t(buf, 56, true_airspeed); + _mav_put_int16_t(buf, 58, xacc); + _mav_put_int16_t(buf, 60, yacc); + _mav_put_int16_t(buf, 62, zacc); + _mav_put_float_array(buf, 8, attitude_quaternion, 4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN); #else mavlink_hil_state_t packet; packet.time_usec = time_usec; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; packet.rollspeed = rollspeed; packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; @@ -115,10 +111,12 @@ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t com packet.vx = vx; packet.vy = vy; packet.vz = vz; + packet.ind_airspeed = ind_airspeed; + packet.true_airspeed = true_airspeed; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; - + mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN); #endif @@ -137,18 +135,18 @@ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t com * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll Roll angle (rad) - * @param pitch Pitch angle (rad) - * @param yaw Yaw angle (rad) - * @param rollspeed Roll angular speed (rad/s) - * @param pitchspeed Pitch angular speed (rad/s) - * @param yawspeed Yaw angular speed (rad/s) + * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion + * @param rollspeed Body frame roll / phi angular speed (rad/s) + * @param pitchspeed Body frame pitch / theta angular speed (rad/s) + * @param yawspeed Body frame yaw / psi angular speed (rad/s) * @param lat Latitude, expressed as * 1E7 * @param lon Longitude, expressed as * 1E7 * @param alt Altitude in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param ind_airspeed Indicated airspeed, expressed as m/s * 100 + * @param true_airspeed True airspeed, expressed as m/s * 100 * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) @@ -156,34 +154,30 @@ static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t com */ static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc) + uint64_t time_usec,const float *attitude_quaternion,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t ind_airspeed,uint16_t true_airspeed,int16_t xacc,int16_t yacc,int16_t zacc) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_STATE_LEN]; _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, roll); - _mav_put_float(buf, 12, pitch); - _mav_put_float(buf, 16, yaw); - _mav_put_float(buf, 20, rollspeed); - _mav_put_float(buf, 24, pitchspeed); - _mav_put_float(buf, 28, yawspeed); - _mav_put_int32_t(buf, 32, lat); - _mav_put_int32_t(buf, 36, lon); - _mav_put_int32_t(buf, 40, alt); - _mav_put_int16_t(buf, 44, vx); - _mav_put_int16_t(buf, 46, vy); - _mav_put_int16_t(buf, 48, vz); - _mav_put_int16_t(buf, 50, xacc); - _mav_put_int16_t(buf, 52, yacc); - _mav_put_int16_t(buf, 54, zacc); - + _mav_put_float(buf, 24, rollspeed); + _mav_put_float(buf, 28, pitchspeed); + _mav_put_float(buf, 32, yawspeed); + _mav_put_int32_t(buf, 36, lat); + _mav_put_int32_t(buf, 40, lon); + _mav_put_int32_t(buf, 44, alt); + _mav_put_int16_t(buf, 48, vx); + _mav_put_int16_t(buf, 50, vy); + _mav_put_int16_t(buf, 52, vz); + _mav_put_uint16_t(buf, 54, ind_airspeed); + _mav_put_uint16_t(buf, 56, true_airspeed); + _mav_put_int16_t(buf, 58, xacc); + _mav_put_int16_t(buf, 60, yacc); + _mav_put_int16_t(buf, 62, zacc); + _mav_put_float_array(buf, 8, attitude_quaternion, 4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN); #else mavlink_hil_state_t packet; packet.time_usec = time_usec; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; packet.rollspeed = rollspeed; packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; @@ -193,10 +187,12 @@ static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_ packet.vx = vx; packet.vy = vy; packet.vz = vz; + packet.ind_airspeed = ind_airspeed; + packet.true_airspeed = true_airspeed; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; - + mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN); #endif @@ -218,7 +214,7 @@ static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_ */ static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state) { - return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc); + return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->attitude_quaternion, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->ind_airspeed, hil_state->true_airspeed, hil_state->xacc, hil_state->yacc, hil_state->zacc); } /** @@ -226,45 +222,44 @@ static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t c * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) - * @param roll Roll angle (rad) - * @param pitch Pitch angle (rad) - * @param yaw Yaw angle (rad) - * @param rollspeed Roll angular speed (rad/s) - * @param pitchspeed Pitch angular speed (rad/s) - * @param yawspeed Yaw angular speed (rad/s) + * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion + * @param rollspeed Body frame roll / phi angular speed (rad/s) + * @param pitchspeed Body frame pitch / theta angular speed (rad/s) + * @param yawspeed Body frame yaw / psi angular speed (rad/s) * @param lat Latitude, expressed as * 1E7 * @param lon Longitude, expressed as * 1E7 * @param alt Altitude in meters, expressed as * 1000 (millimeters) * @param vx Ground X Speed (Latitude), expressed as m/s * 100 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param ind_airspeed Indicated airspeed, expressed as m/s * 100 + * @param true_airspeed True airspeed, expressed as m/s * 100 * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) +static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_STATE_LEN]; _mav_put_uint64_t(buf, 0, time_usec); - _mav_put_float(buf, 8, roll); - _mav_put_float(buf, 12, pitch); - _mav_put_float(buf, 16, yaw); - _mav_put_float(buf, 20, rollspeed); - _mav_put_float(buf, 24, pitchspeed); - _mav_put_float(buf, 28, yawspeed); - _mav_put_int32_t(buf, 32, lat); - _mav_put_int32_t(buf, 36, lon); - _mav_put_int32_t(buf, 40, alt); - _mav_put_int16_t(buf, 44, vx); - _mav_put_int16_t(buf, 46, vy); - _mav_put_int16_t(buf, 48, vz); - _mav_put_int16_t(buf, 50, xacc); - _mav_put_int16_t(buf, 52, yacc); - _mav_put_int16_t(buf, 54, zacc); - + _mav_put_float(buf, 24, rollspeed); + _mav_put_float(buf, 28, pitchspeed); + _mav_put_float(buf, 32, yawspeed); + _mav_put_int32_t(buf, 36, lat); + _mav_put_int32_t(buf, 40, lon); + _mav_put_int32_t(buf, 44, alt); + _mav_put_int16_t(buf, 48, vx); + _mav_put_int16_t(buf, 50, vy); + _mav_put_int16_t(buf, 52, vz); + _mav_put_uint16_t(buf, 54, ind_airspeed); + _mav_put_uint16_t(buf, 56, true_airspeed); + _mav_put_int16_t(buf, 58, xacc); + _mav_put_int16_t(buf, 60, yacc); + _mav_put_int16_t(buf, 62, zacc); + _mav_put_float_array(buf, 8, attitude_quaternion, 4); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); #else @@ -273,9 +268,6 @@ static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t t #else mavlink_hil_state_t packet; packet.time_usec = time_usec; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; packet.rollspeed = rollspeed; packet.pitchspeed = pitchspeed; packet.yawspeed = yawspeed; @@ -285,10 +277,12 @@ static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t t packet.vx = vx; packet.vy = vy; packet.vz = vz; + packet.ind_airspeed = ind_airspeed; + packet.true_airspeed = true_airspeed; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; - + mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); #else @@ -313,63 +307,43 @@ static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message } /** - * @brief Get field roll from hil_state message + * @brief Get field attitude_quaternion from hil_state message * - * @return Roll angle (rad) + * @return Vehicle attitude expressed as normalized quaternion */ -static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg) +static inline uint16_t mavlink_msg_hil_state_get_attitude_quaternion(const mavlink_message_t* msg, float *attitude_quaternion) { - return _MAV_RETURN_float(msg, 8); -} - -/** - * @brief Get field pitch from hil_state message - * - * @return Pitch angle (rad) - */ -static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 12); -} - -/** - * @brief Get field yaw from hil_state message - * - * @return Yaw angle (rad) - */ -static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 16); + return _MAV_RETURN_float_array(msg, attitude_quaternion, 4, 8); } /** * @brief Get field rollspeed from hil_state message * - * @return Roll angular speed (rad/s) + * @return Body frame roll / phi angular speed (rad/s) */ static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 20); + return _MAV_RETURN_float(msg, 24); } /** * @brief Get field pitchspeed from hil_state message * - * @return Pitch angular speed (rad/s) + * @return Body frame pitch / theta angular speed (rad/s) */ static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 24); + return _MAV_RETURN_float(msg, 28); } /** * @brief Get field yawspeed from hil_state message * - * @return Yaw angular speed (rad/s) + * @return Body frame yaw / psi angular speed (rad/s) */ static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 28); + return _MAV_RETURN_float(msg, 32); } /** @@ -379,7 +353,7 @@ static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* */ static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg) { - return _MAV_RETURN_int32_t(msg, 32); + return _MAV_RETURN_int32_t(msg, 36); } /** @@ -389,7 +363,7 @@ static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg */ static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg) { - return _MAV_RETURN_int32_t(msg, 36); + return _MAV_RETURN_int32_t(msg, 40); } /** @@ -399,7 +373,7 @@ static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg */ static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg) { - return _MAV_RETURN_int32_t(msg, 40); + return _MAV_RETURN_int32_t(msg, 44); } /** @@ -409,7 +383,7 @@ static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg */ static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) { - return _MAV_RETURN_int16_t(msg, 44); + return _MAV_RETURN_int16_t(msg, 48); } /** @@ -419,7 +393,7 @@ static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) { - return _MAV_RETURN_int16_t(msg, 46); + return _MAV_RETURN_int16_t(msg, 50); } /** @@ -429,7 +403,27 @@ static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) { - return _MAV_RETURN_int16_t(msg, 48); + return _MAV_RETURN_int16_t(msg, 52); +} + +/** + * @brief Get field ind_airspeed from hil_state message + * + * @return Indicated airspeed, expressed as m/s * 100 + */ +static inline uint16_t mavlink_msg_hil_state_get_ind_airspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 54); +} + +/** + * @brief Get field true_airspeed from hil_state message + * + * @return True airspeed, expressed as m/s * 100 + */ +static inline uint16_t mavlink_msg_hil_state_get_true_airspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 56); } /** @@ -439,7 +433,7 @@ static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) */ static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg) { - return _MAV_RETURN_int16_t(msg, 50); + return _MAV_RETURN_int16_t(msg, 58); } /** @@ -449,7 +443,7 @@ static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* ms */ static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg) { - return _MAV_RETURN_int16_t(msg, 52); + return _MAV_RETURN_int16_t(msg, 60); } /** @@ -459,7 +453,7 @@ static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* ms */ static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg) { - return _MAV_RETURN_int16_t(msg, 54); + return _MAV_RETURN_int16_t(msg, 62); } /** @@ -472,9 +466,7 @@ static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, ma { #if MAVLINK_NEED_BYTE_SWAP hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg); - hil_state->roll = mavlink_msg_hil_state_get_roll(msg); - hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg); - hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg); + mavlink_msg_hil_state_get_attitude_quaternion(msg, hil_state->attitude_quaternion); hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg); hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg); hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg); @@ -484,6 +476,8 @@ static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, ma hil_state->vx = mavlink_msg_hil_state_get_vx(msg); hil_state->vy = mavlink_msg_hil_state_get_vy(msg); hil_state->vz = mavlink_msg_hil_state_get_vz(msg); + hil_state->ind_airspeed = mavlink_msg_hil_state_get_ind_airspeed(msg); + hil_state->true_airspeed = mavlink_msg_hil_state_get_true_airspeed(msg); hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg); hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg); hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg); diff --git a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h index 956f2357779f2efaf8f29197c494ca832da1f64e..6fd32abd256cce49acc72d94a40cae9379b2e54c 100644 --- a/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h +++ b/libs/mavlink/include/mavlink/v1.0/common/mavlink_msg_sim_state.h @@ -4,9 +4,13 @@ typedef struct __mavlink_sim_state_t { - float roll; ///< Roll angle (rad) - float pitch; ///< Pitch angle (rad) - float yaw; ///< Yaw angle (rad) + float q1; ///< True attitude quaternion component 1 + float q2; ///< True attitude quaternion component 2 + float q3; ///< True attitude quaternion component 3 + float q4; ///< True attitude quaternion component 4 + float roll; ///< Attitude roll expressed as Euler angles, not recommended except for human-readable outputs + float pitch; ///< Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs + float yaw; ///< Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs float xacc; ///< X acceleration m/s/s float yacc; ///< Y acceleration m/s/s float zacc; ///< Z acceleration m/s/s @@ -14,31 +18,47 @@ typedef struct __mavlink_sim_state_t float ygyro; ///< Angular speed around Y axis rad/s float zgyro; ///< Angular speed around Z axis rad/s float lat; ///< Latitude in degrees - float lng; ///< Longitude in degrees + float lon; ///< Longitude in degrees + float alt; ///< Altitude in meters + float std_dev_horz; ///< Horizontal position standard deviation + float std_dev_vert; ///< Vertical position standard deviation + float vn; ///< True velocity in m/s in NORTH direction in earth-fixed NED frame + float ve; ///< True velocity in m/s in EAST direction in earth-fixed NED frame + float vd; ///< True velocity in m/s in DOWN direction in earth-fixed NED frame } mavlink_sim_state_t; -#define MAVLINK_MSG_ID_SIM_STATE_LEN 44 -#define MAVLINK_MSG_ID_108_LEN 44 +#define MAVLINK_MSG_ID_SIM_STATE_LEN 84 +#define MAVLINK_MSG_ID_108_LEN 84 -#define MAVLINK_MSG_ID_SIM_STATE_CRC 212 -#define MAVLINK_MSG_ID_108_CRC 212 +#define MAVLINK_MSG_ID_SIM_STATE_CRC 32 +#define MAVLINK_MSG_ID_108_CRC 32 #define MAVLINK_MESSAGE_INFO_SIM_STATE { \ "SIM_STATE", \ - 11, \ - { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sim_state_t, roll) }, \ - { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sim_state_t, pitch) }, \ - { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sim_state_t, yaw) }, \ - { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sim_state_t, xacc) }, \ - { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sim_state_t, yacc) }, \ - { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sim_state_t, zacc) }, \ - { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sim_state_t, xgyro) }, \ - { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sim_state_t, ygyro) }, \ - { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sim_state_t, zgyro) }, \ - { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_sim_state_t, lat) }, \ - { "lng", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_sim_state_t, lng) }, \ + 21, \ + { { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sim_state_t, q1) }, \ + { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sim_state_t, q2) }, \ + { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sim_state_t, q3) }, \ + { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sim_state_t, q4) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sim_state_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sim_state_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sim_state_t, yaw) }, \ + { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sim_state_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sim_state_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_sim_state_t, zacc) }, \ + { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_sim_state_t, xgyro) }, \ + { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_sim_state_t, ygyro) }, \ + { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_sim_state_t, zgyro) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_sim_state_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_sim_state_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_sim_state_t, alt) }, \ + { "std_dev_horz", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_sim_state_t, std_dev_horz) }, \ + { "std_dev_vert", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_sim_state_t, std_dev_vert) }, \ + { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_sim_state_t, vn) }, \ + { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_sim_state_t, ve) }, \ + { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_sim_state_t, vd) }, \ } \ } @@ -49,9 +69,13 @@ typedef struct __mavlink_sim_state_t * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * - * @param roll Roll angle (rad) - * @param pitch Pitch angle (rad) - * @param yaw Yaw angle (rad) + * @param q1 True attitude quaternion component 1 + * @param q2 True attitude quaternion component 2 + * @param q3 True attitude quaternion component 3 + * @param q4 True attitude quaternion component 4 + * @param roll Attitude roll expressed as Euler angles, not recommended except for human-readable outputs + * @param pitch Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs + * @param yaw Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs * @param xacc X acceleration m/s/s * @param yacc Y acceleration m/s/s * @param zacc Z acceleration m/s/s @@ -59,29 +83,49 @@ typedef struct __mavlink_sim_state_t * @param ygyro Angular speed around Y axis rad/s * @param zgyro Angular speed around Z axis rad/s * @param lat Latitude in degrees - * @param lng Longitude in degrees + * @param lon Longitude in degrees + * @param alt Altitude in meters + * @param std_dev_horz Horizontal position standard deviation + * @param std_dev_vert Vertical position standard deviation + * @param vn True velocity in m/s in NORTH direction in earth-fixed NED frame + * @param ve True velocity in m/s in EAST direction in earth-fixed NED frame + * @param vd True velocity in m/s in DOWN direction in earth-fixed NED frame * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_sim_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lng) + float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SIM_STATE_LEN]; - _mav_put_float(buf, 0, roll); - _mav_put_float(buf, 4, pitch); - _mav_put_float(buf, 8, yaw); - _mav_put_float(buf, 12, xacc); - _mav_put_float(buf, 16, yacc); - _mav_put_float(buf, 20, zacc); - _mav_put_float(buf, 24, xgyro); - _mav_put_float(buf, 28, ygyro); - _mav_put_float(buf, 32, zgyro); - _mav_put_float(buf, 36, lat); - _mav_put_float(buf, 40, lng); + _mav_put_float(buf, 0, q1); + _mav_put_float(buf, 4, q2); + _mav_put_float(buf, 8, q3); + _mav_put_float(buf, 12, q4); + _mav_put_float(buf, 16, roll); + _mav_put_float(buf, 20, pitch); + _mav_put_float(buf, 24, yaw); + _mav_put_float(buf, 28, xacc); + _mav_put_float(buf, 32, yacc); + _mav_put_float(buf, 36, zacc); + _mav_put_float(buf, 40, xgyro); + _mav_put_float(buf, 44, ygyro); + _mav_put_float(buf, 48, zgyro); + _mav_put_float(buf, 52, lat); + _mav_put_float(buf, 56, lon); + _mav_put_float(buf, 60, alt); + _mav_put_float(buf, 64, std_dev_horz); + _mav_put_float(buf, 68, std_dev_vert); + _mav_put_float(buf, 72, vn); + _mav_put_float(buf, 76, ve); + _mav_put_float(buf, 80, vd); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIM_STATE_LEN); #else mavlink_sim_state_t packet; + packet.q1 = q1; + packet.q2 = q2; + packet.q3 = q3; + packet.q4 = q4; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; @@ -92,7 +136,13 @@ static inline uint16_t mavlink_msg_sim_state_pack(uint8_t system_id, uint8_t com packet.ygyro = ygyro; packet.zgyro = zgyro; packet.lat = lat; - packet.lng = lng; + packet.lon = lon; + packet.alt = alt; + packet.std_dev_horz = std_dev_horz; + packet.std_dev_vert = std_dev_vert; + packet.vn = vn; + packet.ve = ve; + packet.vd = vd; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIM_STATE_LEN); #endif @@ -111,9 +161,13 @@ static inline uint16_t mavlink_msg_sim_state_pack(uint8_t system_id, uint8_t com * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message was sent over * @param msg The MAVLink message to compress the data into - * @param roll Roll angle (rad) - * @param pitch Pitch angle (rad) - * @param yaw Yaw angle (rad) + * @param q1 True attitude quaternion component 1 + * @param q2 True attitude quaternion component 2 + * @param q3 True attitude quaternion component 3 + * @param q4 True attitude quaternion component 4 + * @param roll Attitude roll expressed as Euler angles, not recommended except for human-readable outputs + * @param pitch Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs + * @param yaw Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs * @param xacc X acceleration m/s/s * @param yacc Y acceleration m/s/s * @param zacc Z acceleration m/s/s @@ -121,30 +175,50 @@ static inline uint16_t mavlink_msg_sim_state_pack(uint8_t system_id, uint8_t com * @param ygyro Angular speed around Y axis rad/s * @param zgyro Angular speed around Z axis rad/s * @param lat Latitude in degrees - * @param lng Longitude in degrees + * @param lon Longitude in degrees + * @param alt Altitude in meters + * @param std_dev_horz Horizontal position standard deviation + * @param std_dev_vert Vertical position standard deviation + * @param vn True velocity in m/s in NORTH direction in earth-fixed NED frame + * @param ve True velocity in m/s in EAST direction in earth-fixed NED frame + * @param vd True velocity in m/s in DOWN direction in earth-fixed NED frame * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_sim_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, - float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float lat,float lng) + float q1,float q2,float q3,float q4,float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float lat,float lon,float alt,float std_dev_horz,float std_dev_vert,float vn,float ve,float vd) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SIM_STATE_LEN]; - _mav_put_float(buf, 0, roll); - _mav_put_float(buf, 4, pitch); - _mav_put_float(buf, 8, yaw); - _mav_put_float(buf, 12, xacc); - _mav_put_float(buf, 16, yacc); - _mav_put_float(buf, 20, zacc); - _mav_put_float(buf, 24, xgyro); - _mav_put_float(buf, 28, ygyro); - _mav_put_float(buf, 32, zgyro); - _mav_put_float(buf, 36, lat); - _mav_put_float(buf, 40, lng); + _mav_put_float(buf, 0, q1); + _mav_put_float(buf, 4, q2); + _mav_put_float(buf, 8, q3); + _mav_put_float(buf, 12, q4); + _mav_put_float(buf, 16, roll); + _mav_put_float(buf, 20, pitch); + _mav_put_float(buf, 24, yaw); + _mav_put_float(buf, 28, xacc); + _mav_put_float(buf, 32, yacc); + _mav_put_float(buf, 36, zacc); + _mav_put_float(buf, 40, xgyro); + _mav_put_float(buf, 44, ygyro); + _mav_put_float(buf, 48, zgyro); + _mav_put_float(buf, 52, lat); + _mav_put_float(buf, 56, lon); + _mav_put_float(buf, 60, alt); + _mav_put_float(buf, 64, std_dev_horz); + _mav_put_float(buf, 68, std_dev_vert); + _mav_put_float(buf, 72, vn); + _mav_put_float(buf, 76, ve); + _mav_put_float(buf, 80, vd); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIM_STATE_LEN); #else mavlink_sim_state_t packet; + packet.q1 = q1; + packet.q2 = q2; + packet.q3 = q3; + packet.q4 = q4; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; @@ -155,7 +229,13 @@ static inline uint16_t mavlink_msg_sim_state_pack_chan(uint8_t system_id, uint8_ packet.ygyro = ygyro; packet.zgyro = zgyro; packet.lat = lat; - packet.lng = lng; + packet.lon = lon; + packet.alt = alt; + packet.std_dev_horz = std_dev_horz; + packet.std_dev_vert = std_dev_vert; + packet.vn = vn; + packet.ve = ve; + packet.vd = vd; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIM_STATE_LEN); #endif @@ -178,16 +258,20 @@ static inline uint16_t mavlink_msg_sim_state_pack_chan(uint8_t system_id, uint8_ */ static inline uint16_t mavlink_msg_sim_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sim_state_t* sim_state) { - return mavlink_msg_sim_state_pack(system_id, component_id, msg, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lng); + return mavlink_msg_sim_state_pack(system_id, component_id, msg, sim_state->q1, sim_state->q2, sim_state->q3, sim_state->q4, sim_state->roll, sim_state->pitch, sim_state->yaw, sim_state->xacc, sim_state->yacc, sim_state->zacc, sim_state->xgyro, sim_state->ygyro, sim_state->zgyro, sim_state->lat, sim_state->lon, sim_state->alt, sim_state->std_dev_horz, sim_state->std_dev_vert, sim_state->vn, sim_state->ve, sim_state->vd); } /** * @brief Send a sim_state message * @param chan MAVLink channel to send the message * - * @param roll Roll angle (rad) - * @param pitch Pitch angle (rad) - * @param yaw Yaw angle (rad) + * @param q1 True attitude quaternion component 1 + * @param q2 True attitude quaternion component 2 + * @param q3 True attitude quaternion component 3 + * @param q4 True attitude quaternion component 4 + * @param roll Attitude roll expressed as Euler angles, not recommended except for human-readable outputs + * @param pitch Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs + * @param yaw Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs * @param xacc X acceleration m/s/s * @param yacc Y acceleration m/s/s * @param zacc Z acceleration m/s/s @@ -195,25 +279,41 @@ static inline uint16_t mavlink_msg_sim_state_encode(uint8_t system_id, uint8_t c * @param ygyro Angular speed around Y axis rad/s * @param zgyro Angular speed around Z axis rad/s * @param lat Latitude in degrees - * @param lng Longitude in degrees + * @param lon Longitude in degrees + * @param alt Altitude in meters + * @param std_dev_horz Horizontal position standard deviation + * @param std_dev_vert Vertical position standard deviation + * @param vn True velocity in m/s in NORTH direction in earth-fixed NED frame + * @param ve True velocity in m/s in EAST direction in earth-fixed NED frame + * @param vd True velocity in m/s in DOWN direction in earth-fixed NED frame */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS -static inline void mavlink_msg_sim_state_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lng) +static inline void mavlink_msg_sim_state_send(mavlink_channel_t chan, float q1, float q2, float q3, float q4, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float lat, float lon, float alt, float std_dev_horz, float std_dev_vert, float vn, float ve, float vd) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SIM_STATE_LEN]; - _mav_put_float(buf, 0, roll); - _mav_put_float(buf, 4, pitch); - _mav_put_float(buf, 8, yaw); - _mav_put_float(buf, 12, xacc); - _mav_put_float(buf, 16, yacc); - _mav_put_float(buf, 20, zacc); - _mav_put_float(buf, 24, xgyro); - _mav_put_float(buf, 28, ygyro); - _mav_put_float(buf, 32, zgyro); - _mav_put_float(buf, 36, lat); - _mav_put_float(buf, 40, lng); + _mav_put_float(buf, 0, q1); + _mav_put_float(buf, 4, q2); + _mav_put_float(buf, 8, q3); + _mav_put_float(buf, 12, q4); + _mav_put_float(buf, 16, roll); + _mav_put_float(buf, 20, pitch); + _mav_put_float(buf, 24, yaw); + _mav_put_float(buf, 28, xacc); + _mav_put_float(buf, 32, yacc); + _mav_put_float(buf, 36, zacc); + _mav_put_float(buf, 40, xgyro); + _mav_put_float(buf, 44, ygyro); + _mav_put_float(buf, 48, zgyro); + _mav_put_float(buf, 52, lat); + _mav_put_float(buf, 56, lon); + _mav_put_float(buf, 60, alt); + _mav_put_float(buf, 64, std_dev_horz); + _mav_put_float(buf, 68, std_dev_vert); + _mav_put_float(buf, 72, vn); + _mav_put_float(buf, 76, ve); + _mav_put_float(buf, 80, vd); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, buf, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC); @@ -222,6 +322,10 @@ static inline void mavlink_msg_sim_state_send(mavlink_channel_t chan, float roll #endif #else mavlink_sim_state_t packet; + packet.q1 = q1; + packet.q2 = q2; + packet.q3 = q3; + packet.q4 = q4; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; @@ -232,7 +336,13 @@ static inline void mavlink_msg_sim_state_send(mavlink_channel_t chan, float roll packet.ygyro = ygyro; packet.zgyro = zgyro; packet.lat = lat; - packet.lng = lng; + packet.lon = lon; + packet.alt = alt; + packet.std_dev_horz = std_dev_horz; + packet.std_dev_vert = std_dev_vert; + packet.vn = vn; + packet.ve = ve; + packet.vd = vd; #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIM_STATE, (const char *)&packet, MAVLINK_MSG_ID_SIM_STATE_LEN, MAVLINK_MSG_ID_SIM_STATE_CRC); @@ -247,34 +357,74 @@ static inline void mavlink_msg_sim_state_send(mavlink_channel_t chan, float roll // MESSAGE SIM_STATE UNPACKING +/** + * @brief Get field q1 from sim_state message + * + * @return True attitude quaternion component 1 + */ +static inline float mavlink_msg_sim_state_get_q1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field q2 from sim_state message + * + * @return True attitude quaternion component 2 + */ +static inline float mavlink_msg_sim_state_get_q2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field q3 from sim_state message + * + * @return True attitude quaternion component 3 + */ +static inline float mavlink_msg_sim_state_get_q3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field q4 from sim_state message + * + * @return True attitude quaternion component 4 + */ +static inline float mavlink_msg_sim_state_get_q4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + /** * @brief Get field roll from sim_state message * - * @return Roll angle (rad) + * @return Attitude roll expressed as Euler angles, not recommended except for human-readable outputs */ static inline float mavlink_msg_sim_state_get_roll(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 0); + return _MAV_RETURN_float(msg, 16); } /** * @brief Get field pitch from sim_state message * - * @return Pitch angle (rad) + * @return Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs */ static inline float mavlink_msg_sim_state_get_pitch(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 4); + return _MAV_RETURN_float(msg, 20); } /** * @brief Get field yaw from sim_state message * - * @return Yaw angle (rad) + * @return Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs */ static inline float mavlink_msg_sim_state_get_yaw(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 8); + return _MAV_RETURN_float(msg, 24); } /** @@ -284,7 +434,7 @@ static inline float mavlink_msg_sim_state_get_yaw(const mavlink_message_t* msg) */ static inline float mavlink_msg_sim_state_get_xacc(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 12); + return _MAV_RETURN_float(msg, 28); } /** @@ -294,7 +444,7 @@ static inline float mavlink_msg_sim_state_get_xacc(const mavlink_message_t* msg) */ static inline float mavlink_msg_sim_state_get_yacc(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 16); + return _MAV_RETURN_float(msg, 32); } /** @@ -304,7 +454,7 @@ static inline float mavlink_msg_sim_state_get_yacc(const mavlink_message_t* msg) */ static inline float mavlink_msg_sim_state_get_zacc(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 20); + return _MAV_RETURN_float(msg, 36); } /** @@ -314,7 +464,7 @@ static inline float mavlink_msg_sim_state_get_zacc(const mavlink_message_t* msg) */ static inline float mavlink_msg_sim_state_get_xgyro(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 24); + return _MAV_RETURN_float(msg, 40); } /** @@ -324,7 +474,7 @@ static inline float mavlink_msg_sim_state_get_xgyro(const mavlink_message_t* msg */ static inline float mavlink_msg_sim_state_get_ygyro(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 28); + return _MAV_RETURN_float(msg, 44); } /** @@ -334,7 +484,7 @@ static inline float mavlink_msg_sim_state_get_ygyro(const mavlink_message_t* msg */ static inline float mavlink_msg_sim_state_get_zgyro(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 32); + return _MAV_RETURN_float(msg, 48); } /** @@ -344,17 +494,77 @@ static inline float mavlink_msg_sim_state_get_zgyro(const mavlink_message_t* msg */ static inline float mavlink_msg_sim_state_get_lat(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 36); + return _MAV_RETURN_float(msg, 52); } /** - * @brief Get field lng from sim_state message + * @brief Get field lon from sim_state message * * @return Longitude in degrees */ -static inline float mavlink_msg_sim_state_get_lng(const mavlink_message_t* msg) +static inline float mavlink_msg_sim_state_get_lon(const mavlink_message_t* msg) { - return _MAV_RETURN_float(msg, 40); + return _MAV_RETURN_float(msg, 56); +} + +/** + * @brief Get field alt from sim_state message + * + * @return Altitude in meters + */ +static inline float mavlink_msg_sim_state_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 60); +} + +/** + * @brief Get field std_dev_horz from sim_state message + * + * @return Horizontal position standard deviation + */ +static inline float mavlink_msg_sim_state_get_std_dev_horz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 64); +} + +/** + * @brief Get field std_dev_vert from sim_state message + * + * @return Vertical position standard deviation + */ +static inline float mavlink_msg_sim_state_get_std_dev_vert(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 68); +} + +/** + * @brief Get field vn from sim_state message + * + * @return True velocity in m/s in NORTH direction in earth-fixed NED frame + */ +static inline float mavlink_msg_sim_state_get_vn(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 72); +} + +/** + * @brief Get field ve from sim_state message + * + * @return True velocity in m/s in EAST direction in earth-fixed NED frame + */ +static inline float mavlink_msg_sim_state_get_ve(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 76); +} + +/** + * @brief Get field vd from sim_state message + * + * @return True velocity in m/s in DOWN direction in earth-fixed NED frame + */ +static inline float mavlink_msg_sim_state_get_vd(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 80); } /** @@ -366,6 +576,10 @@ static inline float mavlink_msg_sim_state_get_lng(const mavlink_message_t* msg) static inline void mavlink_msg_sim_state_decode(const mavlink_message_t* msg, mavlink_sim_state_t* sim_state) { #if MAVLINK_NEED_BYTE_SWAP + sim_state->q1 = mavlink_msg_sim_state_get_q1(msg); + sim_state->q2 = mavlink_msg_sim_state_get_q2(msg); + sim_state->q3 = mavlink_msg_sim_state_get_q3(msg); + sim_state->q4 = mavlink_msg_sim_state_get_q4(msg); sim_state->roll = mavlink_msg_sim_state_get_roll(msg); sim_state->pitch = mavlink_msg_sim_state_get_pitch(msg); sim_state->yaw = mavlink_msg_sim_state_get_yaw(msg); @@ -376,7 +590,13 @@ static inline void mavlink_msg_sim_state_decode(const mavlink_message_t* msg, ma sim_state->ygyro = mavlink_msg_sim_state_get_ygyro(msg); sim_state->zgyro = mavlink_msg_sim_state_get_zgyro(msg); sim_state->lat = mavlink_msg_sim_state_get_lat(msg); - sim_state->lng = mavlink_msg_sim_state_get_lng(msg); + sim_state->lon = mavlink_msg_sim_state_get_lon(msg); + sim_state->alt = mavlink_msg_sim_state_get_alt(msg); + sim_state->std_dev_horz = mavlink_msg_sim_state_get_std_dev_horz(msg); + sim_state->std_dev_vert = mavlink_msg_sim_state_get_std_dev_vert(msg); + sim_state->vn = mavlink_msg_sim_state_get_vn(msg); + sim_state->ve = mavlink_msg_sim_state_get_ve(msg); + sim_state->vd = mavlink_msg_sim_state_get_vd(msg); #else memcpy(sim_state, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SIM_STATE_LEN); #endif diff --git a/libs/mavlink/include/mavlink/v1.0/common/testsuite.h b/libs/mavlink/include/mavlink/v1.0/common/testsuite.h index ead898afd634d6ae705272bc05299a2cdb6ab09f..2c86450e0ad44cfd2b2f40333cfa58382f94c3dc 100644 --- a/libs/mavlink/include/mavlink/v1.0/common/testsuite.h +++ b/libs/mavlink/include/mavlink/v1.0/common/testsuite.h @@ -3346,28 +3346,25 @@ static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavl uint16_t i; mavlink_hil_state_t packet_in = { 93372036854775807ULL, - 73.0, - 101.0, - 129.0, - 157.0, + { 73.0, 74.0, 75.0, 76.0 }, 185.0, 213.0, - 963499128, + 241.0, 963499336, 963499544, - 19523, - 19627, + 963499752, 19731, 19835, 19939, 20043, + 20147, + 20251, + 20355, + 20459, }; mavlink_hil_state_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.time_usec = packet_in.time_usec; - packet1.roll = packet_in.roll; - packet1.pitch = packet_in.pitch; - packet1.yaw = packet_in.yaw; packet1.rollspeed = packet_in.rollspeed; packet1.pitchspeed = packet_in.pitchspeed; packet1.yawspeed = packet_in.yawspeed; @@ -3377,10 +3374,13 @@ static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavl packet1.vx = packet_in.vx; packet1.vy = packet_in.vy; packet1.vz = packet_in.vz; + packet1.ind_airspeed = packet_in.ind_airspeed; + packet1.true_airspeed = packet_in.true_airspeed; packet1.xacc = packet_in.xacc; packet1.yacc = packet_in.yacc; packet1.zacc = packet_in.zacc; + mav_array_memcpy(packet1.attitude_quaternion, packet_in.attitude_quaternion, sizeof(float)*4); memset(&packet2, 0, sizeof(packet2)); @@ -3389,12 +3389,12 @@ static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavl MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_hil_state_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc ); + mavlink_msg_hil_state_pack(system_id, component_id, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc ); mavlink_msg_hil_state_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_hil_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc ); + mavlink_msg_hil_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc ); mavlink_msg_hil_state_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); @@ -3407,7 +3407,7 @@ static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavl MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_hil_state_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc ); + mavlink_msg_hil_state_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc ); mavlink_msg_hil_state_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } @@ -3949,8 +3949,8 @@ static void mavlink_test_hil_sensor(uint8_t system_id, uint8_t component_id, mav 73.0, 101.0, 129.0, - 963498504, - 963498712, + 157.0, + 185.0, 213.0, 241.0, 269.0, @@ -3959,22 +3959,11 @@ static void mavlink_test_hil_sensor(uint8_t system_id, uint8_t component_id, mav 353.0, 381.0, 409.0, - 437.0, - 465.0, - 493.0, - 521.0, - 549.0, - 577.0, - 963501832, + 963500584, }; mavlink_hil_sensor_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.time_usec = packet_in.time_usec; - packet1.roll = packet_in.roll; - packet1.pitch = packet_in.pitch; - packet1.yaw = packet_in.yaw; - packet1.lat = packet_in.lat; - packet1.lon = packet_in.lon; packet1.xacc = packet_in.xacc; packet1.yacc = packet_in.yacc; packet1.zacc = packet_in.zacc; @@ -3987,7 +3976,6 @@ static void mavlink_test_hil_sensor(uint8_t system_id, uint8_t component_id, mav packet1.abs_pressure = packet_in.abs_pressure; packet1.diff_pressure = packet_in.diff_pressure; packet1.pressure_alt = packet_in.pressure_alt; - packet1.gps_alt = packet_in.gps_alt; packet1.temperature = packet_in.temperature; packet1.fields_updated = packet_in.fields_updated; @@ -3999,12 +3987,12 @@ static void mavlink_test_hil_sensor(uint8_t system_id, uint8_t component_id, mav MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_hil_sensor_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.lat , packet1.lon , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.gps_alt , packet1.temperature , packet1.fields_updated ); + mavlink_msg_hil_sensor_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated ); mavlink_msg_hil_sensor_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_hil_sensor_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.lat , packet1.lon , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.gps_alt , packet1.temperature , packet1.fields_updated ); + mavlink_msg_hil_sensor_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated ); mavlink_msg_hil_sensor_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); @@ -4017,7 +4005,7 @@ static void mavlink_test_hil_sensor(uint8_t system_id, uint8_t component_id, mav MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_hil_sensor_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.lat , packet1.lon , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.gps_alt , packet1.temperature , packet1.fields_updated ); + mavlink_msg_hil_sensor_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated ); mavlink_msg_hil_sensor_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } @@ -4039,9 +4027,23 @@ static void mavlink_test_sim_state(uint8_t system_id, uint8_t component_id, mavl 241.0, 269.0, 297.0, + 325.0, + 353.0, + 381.0, + 409.0, + 437.0, + 465.0, + 493.0, + 521.0, + 549.0, + 577.0, }; mavlink_sim_state_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); + packet1.q1 = packet_in.q1; + packet1.q2 = packet_in.q2; + packet1.q3 = packet_in.q3; + packet1.q4 = packet_in.q4; packet1.roll = packet_in.roll; packet1.pitch = packet_in.pitch; packet1.yaw = packet_in.yaw; @@ -4052,7 +4054,13 @@ static void mavlink_test_sim_state(uint8_t system_id, uint8_t component_id, mavl packet1.ygyro = packet_in.ygyro; packet1.zgyro = packet_in.zgyro; packet1.lat = packet_in.lat; - packet1.lng = packet_in.lng; + packet1.lon = packet_in.lon; + packet1.alt = packet_in.alt; + packet1.std_dev_horz = packet_in.std_dev_horz; + packet1.std_dev_vert = packet_in.std_dev_vert; + packet1.vn = packet_in.vn; + packet1.ve = packet_in.ve; + packet1.vd = packet_in.vd; @@ -4062,12 +4070,12 @@ static void mavlink_test_sim_state(uint8_t system_id, uint8_t component_id, mavl MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_sim_state_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng ); + mavlink_msg_sim_state_pack(system_id, component_id, &msg , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd ); mavlink_msg_sim_state_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_sim_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng ); + mavlink_msg_sim_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd ); mavlink_msg_sim_state_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); @@ -4080,7 +4088,7 @@ static void mavlink_test_sim_state(uint8_t system_id, uint8_t component_id, mavl MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_sim_state_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng ); + mavlink_msg_sim_state_send(MAVLINK_COMM_1 , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd ); mavlink_msg_sim_state_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } @@ -4283,6 +4291,130 @@ static void mavlink_test_file_transfer_res(uint8_t system_id, uint8_t component_ MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } +static void mavlink_test_hil_gps(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) +{ + mavlink_message_t msg; + uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; + uint16_t i; + mavlink_hil_gps_t packet_in = { + 93372036854775807ULL, + 963497880, + 963498088, + 963498296, + 18275, + 18379, + 18483, + 18587, + 18691, + 18795, + 18899, + 235, + 46, + }; + mavlink_hil_gps_t packet1, packet2; + memset(&packet1, 0, sizeof(packet1)); + packet1.time_usec = packet_in.time_usec; + packet1.lat = packet_in.lat; + packet1.lon = packet_in.lon; + packet1.alt = packet_in.alt; + packet1.eph = packet_in.eph; + packet1.epv = packet_in.epv; + packet1.vel = packet_in.vel; + packet1.vn = packet_in.vn; + packet1.ve = packet_in.ve; + packet1.vd = packet_in.vd; + packet1.cog = packet_in.cog; + packet1.fix_type = packet_in.fix_type; + packet1.satellites_visible = packet_in.satellites_visible; + + + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_hil_gps_encode(system_id, component_id, &msg, &packet1); + mavlink_msg_hil_gps_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_hil_gps_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible ); + mavlink_msg_hil_gps_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_hil_gps_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible ); + mavlink_msg_hil_gps_decode(&msg, &packet2); + MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); + + memset(&packet2, 0, sizeof(packet2)); + mavlink_msg_to_send_buffer(buffer, &msg); + for (i=0; i